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+    "Grab red block, pass it along a path clear of the wooden globe with metal base, place onto blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the Earth map globe, then place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe with smooth surface, set on blue pad.",
+    "Secure the red block, transfer it away from the decor piece globe, and drop it onto the blue pad.",
+    "Pick the red block, keep the transfer away from the brown globe on black stand, and place it on blue pad.",
+    "Use left arm to pick red block, avoid the round Earth globe during handoff, right arm place blue pad.",
+    "Left arm lifts red block, handover away from the globe with smooth surface, right arm sets it on blue pad.",
+    "Left arm take red block, keep the pass away from the beige and brown globe, right arm puts on blue pad.",
+    "Lift the red block, do a handover avoiding the brown globe on black stand, then place it onto the blue pad.",
+    "Grab the red block, transfer it while steering clear of the round Earth globe, place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the wooden globe with metal base, place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the decor piece globe, and place on blue pad.",
+    "Left arm grips red block, hands off away from the globe with curved black stand, right arm places on blue pad.",
+    "Take the red block from the table, hand over away from the round Earth globe, drop on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the wooden globe with metal base, then place on blue pad.",
+    "Take the red block from the table, pass it clear of the decor piece globe, and put it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the beige and brown globe, then sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe with curved black stand, place blue pad.",
+    "Lift the red block, hand it across away from the wooden globe with metal base, then place it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the round Earth globe, then places on blue pad.",
+    "Grab red block, pass it along a path clear of the globe with curved black stand, place onto blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the smooth beige globe with continents, then place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe with smooth surface, set on blue pad.",
+    "Secure the red block, transfer it away from the decor piece globe, and drop it onto the blue pad.",
+    "Pick the red block, keep the transfer away from the brown globe on black stand, and place it on blue pad.",
+    "Use left arm to pick red block, avoid the beige and brown globe during handoff, right arm place blue pad.",
+    "Left arm lifts red block, handover away from the globe with smooth surface, right arm sets it on blue pad.",
+    "Left arm take red block, keep the pass away from the brown globe on black stand, right arm puts on blue pad.",
+    "Lift the red block, do a handover avoiding the globe with smooth surface, then place it onto the blue pad.",
+    "Grab the red block, transfer it while steering clear of the decor piece globe, place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe with curved black stand, place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the brown globe on black stand, and place on blue pad.",
+    "Left arm grips red block, hands off away from the spinning brown globe, right arm places on blue pad.",
+    "Take the red block from the table, hand over away from the spinning brown globe, drop on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the decor piece globe, then place on blue pad.",
+    "Take the red block from the table, pass it clear of the round globe with sturdy base, and put it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the globe with smooth surface, then sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe with smooth surface, place blue pad.",
+    "Lift the red block, hand it across away from the beige and brown globe, then place it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the spinning brown globe, then places on blue pad.",
+    "Grab red block, pass it along a path clear of the round globe with sturdy base, place onto blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the Earth map globe, then place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the round Earth globe, set on blue pad.",
+    "Secure the red block, transfer it away from the wooden globe with metal base, and drop it onto the blue pad.",
+    "Pick the red block, keep the transfer away from the globe with curved black stand, and place it on blue pad.",
+    "Use left arm to pick red block, avoid the globe with smooth surface during handoff, right arm place blue pad.",
+    "Left arm lifts red block, handover away from the wooden globe with metal base, right arm sets it on blue pad.",
+    "Left arm take red block, keep the pass away from the round Earth globe, right arm puts on blue pad.",
+    "Lift the red block, do a handover avoiding the globe with curved black stand, then place it onto the blue pad.",
+    "Grab the red block, transfer it while steering clear of the round globe with sturdy base, place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the wooden globe with metal base, place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the decor piece globe, and place on blue pad.",
+    "Left arm grips red block, hands off away from the Earth map globe, right arm places on blue pad.",
+    "Take the red block from the table, hand over away from the globe with curved black stand, drop on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the round globe with sturdy base, then place on blue pad.",
+    "Take the red block from the table, pass it clear of the globe with curved black stand, and put it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the round globe with sturdy base, then sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the wooden globe with metal base, place blue pad.",
+    "Lift the red block, hand it across away from the globe for geographic reference, then place it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the decor piece globe, then places on blue pad.",
+    "Grab red block, pass it along a path clear of the spinning brown globe, place onto blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the wooden globe with metal base, then place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the brown globe on black stand, set on blue pad.",
+    "Secure the red block, transfer it away from the wooden globe with metal base, and drop it onto the blue pad.",
+    "Pick the red block, keep the transfer away from the decor piece globe, and place it on blue pad.",
+    "Use left arm to pick red block, avoid the wooden globe with metal base during handoff, right arm place blue pad.",
+    "Left arm lifts red block, handover away from the globe for geographic reference, right arm sets it on blue pad.",
+    "Left arm take red block, keep the pass away from the globe for geographic reference, right arm puts on blue pad.",
+    "Lift the red block, do a handover avoiding the globe for geographic reference, then place it onto the blue pad.",
+    "Grab the red block, transfer it while steering clear of the decor piece globe, place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the beige and brown globe, place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe with smooth surface, and place on blue pad.",
+    "Left arm grips red block, hands off away from the beige and brown globe, right arm places on blue pad.",
+    "Take the red block from the table, hand over away from the wooden globe with metal base, drop on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the round Earth globe, then place on blue pad.",
+    "Take the red block from the table, pass it clear of the smooth beige globe with continents, and put it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the globe for geographic reference, then sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the decor piece globe, place blue pad.",
+    "Lift the red block, hand it across away from the decor piece globe, then place it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the beige and brown globe, then places on blue pad.",
+    "Grab red block, pass it along a path clear of the wooden globe with metal base, place onto blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the Earth map globe, then place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the spinning brown globe, set on blue pad.",
+    "Secure the red block, transfer it away from the Earth map globe, and drop it onto the blue pad.",
+    "Pick the red block, keep the transfer away from the beige and brown globe, and place it on blue pad.",
+    "Use left arm to pick red block, avoid the globe for geographic reference during handoff, right arm place blue pad.",
+    "Left arm lifts red block, handover away from the globe for geographic reference, right arm sets it on blue pad.",
+    "Left arm take red block, keep the pass away from the globe with curved black stand, right arm puts on blue pad.",
+    "Lift the red block, do a handover avoiding the beige and brown globe, then place it onto the blue pad.",
+    "Grab the red block, transfer it while steering clear of the brown globe on black stand, place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the brown globe on black stand, place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the brown globe on black stand, and place on blue pad.",
+    "Left arm grips red block, hands off away from the round globe with sturdy base, right arm places on blue pad.",
+    "Take the red block from the table, hand over away from the beige and brown globe, drop on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the round globe with sturdy base, then place on blue pad.",
+    "Take the red block from the table, pass it clear of the round Earth globe, and put it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the beige and brown globe, then sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe for geographic reference, place blue pad.",
+    "Lift the red block, hand it across away from the globe with curved black stand, then place it on blue pad."
+  ],
+  "unseen": [
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe."
+  ]
+}
\ No newline at end of file
diff --git a/handover_block_wp1/handover_block_wp1/instructions/episode1.json b/handover_block_wp1/handover_block_wp1/instructions/episode1.json
new file mode 100644
index 0000000000000000000000000000000000000000..b3657b393537be4e353074c993e9e5d11b3d4cac
--- /dev/null
+++ b/handover_block_wp1/handover_block_wp1/instructions/episode1.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Left arm grabs red block, right arm receives it away from the colorful globe on black stand, then sets it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the globe sitting on curved black base, place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe with curved black base, and place on blue pad.",
+    "Take the red block from the table, pass it clear of the small world globe, and put it on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the small world globe, place on blue pad.",
+    "Lift the red block, do a handover avoiding the small world globe, then place it onto the blue pad.",
+    "Lift the red block, hand it across away from the compact globe with labeled countries, then place it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the hand-sized globe on sturdy stand, place blue pad.",
+    "Left arm take red block, keep the pass away from the hand-sized globe on sturdy stand, right arm puts on blue pad.",
+    "Left arm lifts red block, handover away from the earth-shaped globe with black frame, right arm sets it on blue pad.",
+    "Secure the red block, transfer it away from the globe featuring bright country colors, and drop it onto the blue pad.",
+    "Use left arm to pick red block, avoid the globe featuring bright country colors during handoff, right arm place blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the blue globe with colorful continents, then places on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the small sphere showing earth map, then place on blue pad.",
+    "Left arm grips red block, hands off away from the colorful globe on black stand, right arm places on blue pad.",
+    "Take the red block from the table, hand over away from the hand-sized globe on sturdy stand, drop on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the globe featuring bright country colors, then place on blue pad.",
+    "Pick the red block, keep the transfer away from the globe sitting on curved black base, and place it on blue pad.",
+    "Grab red block, pass it along a path clear of the small sphere showing earth map, place onto blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the colorful globe on black stand, set on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the globe with curved black base, then sets it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the colorful globe on black stand, place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the small world globe, and place on blue pad.",
+    "Take the red block from the table, pass it clear of the globe with curved black base, and put it on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the earth-shaped globe with black frame, place on blue pad.",
+    "Lift the red block, do a handover avoiding the small sphere showing earth map, then place it onto the blue pad.",
+    "Lift the red block, hand it across away from the globe featuring bright country colors, then place it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the blue sphere with countries marked, place blue pad.",
+    "Left arm take red block, keep the pass away from the blue globe with colorful continents, right arm puts on blue pad.",
+    "Left arm lifts red block, handover away from the globe featuring bright country colors, right arm sets it on blue pad.",
+    "Secure the red block, transfer it away from the blue sphere with countries marked, and drop it onto the blue pad.",
+    "Use left arm to pick red block, avoid the compact globe with labeled countries during handoff, right arm place blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe with curved black base, then places on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe with curved black base, then place on blue pad.",
+    "Left arm grips red block, hands off away from the earth-shaped globe with black frame, right arm places on blue pad.",
+    "Take the red block from the table, hand over away from the compact globe with labeled countries, drop on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the small sphere showing earth map, then place on blue pad.",
+    "Pick the red block, keep the transfer away from the hand-sized globe on sturdy stand, and place it on blue pad.",
+    "Grab red block, pass it along a path clear of the small sphere showing earth map, place onto blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the earth-shaped globe with black frame, set on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the blue globe with colorful continents, then sets it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the globe featuring bright country colors, place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the hand-sized globe on sturdy stand, and place on blue pad.",
+    "Take the red block from the table, pass it clear of the globe featuring bright country colors, and put it on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe sitting on curved black base, place on blue pad.",
+    "Lift the red block, do a handover avoiding the small world globe, then place it onto the blue pad.",
+    "Lift the red block, hand it across away from the small sphere showing earth map, then place it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the hand-sized globe on sturdy stand, place blue pad.",
+    "Left arm take red block, keep the pass away from the globe featuring bright country colors, right arm puts on blue pad.",
+    "Left arm lifts red block, handover away from the globe sitting on curved black base, right arm sets it on blue pad.",
+    "Secure the red block, transfer it away from the colorful globe on black stand, and drop it onto the blue pad.",
+    "Use left arm to pick red block, avoid the blue globe during handoff, right arm place blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the colorful globe on black stand, then places on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the blue globe, then place on blue pad.",
+    "Left arm grips red block, hands off away from the blue globe with colorful continents, right arm places on blue pad.",
+    "Take the red block from the table, hand over away from the small sphere showing earth map, drop on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the blue sphere with countries marked, then place on blue pad.",
+    "Pick the red block, keep the transfer away from the globe with curved black base, and place it on blue pad.",
+    "Grab red block, pass it along a path clear of the globe featuring bright country colors, place onto blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the earth-shaped globe with black frame, set on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the hand-sized globe on sturdy stand, then sets it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the globe featuring bright country colors, place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the blue globe with colorful continents, and place on blue pad.",
+    "Take the red block from the table, pass it clear of the globe featuring bright country colors, and put it on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the colorful globe on black stand, place on blue pad.",
+    "Lift the red block, do a handover avoiding the blue globe, then place it onto the blue pad.",
+    "Lift the red block, hand it across away from the compact globe with labeled countries, then place it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe featuring bright country colors, place blue pad.",
+    "Left arm take red block, keep the pass away from the small world globe, right arm puts on blue pad.",
+    "Left arm lifts red block, handover away from the hand-sized globe on sturdy stand, right arm sets it on blue pad.",
+    "Secure the red block, transfer it away from the hand-sized globe on sturdy stand, and drop it onto the blue pad.",
+    "Use left arm to pick red block, avoid the small world globe during handoff, right arm place blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the small sphere showing earth map, then places on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the blue sphere with countries marked, then place on blue pad.",
+    "Left arm grips red block, hands off away from the hand-sized globe on sturdy stand, right arm places on blue pad.",
+    "Take the red block from the table, hand over away from the colorful globe on black stand, drop on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the earth-shaped globe with black frame, then place on blue pad.",
+    "Pick the red block, keep the transfer away from the compact globe with labeled countries, and place it on blue pad.",
+    "Grab red block, pass it along a path clear of the blue globe with colorful continents, place onto blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the blue globe, set on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the blue globe, then sets it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the globe with curved black base, place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the compact globe with labeled countries, and place on blue pad.",
+    "Take the red block from the table, pass it clear of the earth-shaped globe with black frame, and put it on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the hand-sized globe on sturdy stand, place on blue pad.",
+    "Lift the red block, do a handover avoiding the small sphere showing earth map, then place it onto the blue pad.",
+    "Lift the red block, hand it across away from the globe sitting on curved black base, then place it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the small sphere showing earth map, place blue pad.",
+    "Left arm take red block, keep the pass away from the globe with curved black base, right arm puts on blue pad.",
+    "Left arm lifts red block, handover away from the blue globe, right arm sets it on blue pad.",
+    "Secure the red block, transfer it away from the globe sitting on curved black base, and drop it onto the blue pad.",
+    "Use left arm to pick red block, avoid the small sphere showing earth map during handoff, right arm place blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the hand-sized globe on sturdy stand, then places on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the hand-sized globe on sturdy stand, then place on blue pad.",
+    "Left arm grips red block, hands off away from the globe sitting on curved black base, right arm places on blue pad.",
+    "Take the red block from the table, hand over away from the compact globe with labeled countries, drop on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the blue globe, then place on blue pad.",
+    "Pick the red block, keep the transfer away from the earth-shaped globe with black frame, and place it on blue pad.",
+    "Grab red block, pass it along a path clear of the hand-sized globe on sturdy stand, place onto blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the hand-sized globe on sturdy stand, set on blue pad."
+  ],
+  "unseen": [
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad."
+  ]
+}
\ No newline at end of file
diff --git a/handover_block_wp1/handover_block_wp1/instructions/episode10.json b/handover_block_wp1/handover_block_wp1/instructions/episode10.json
new file mode 100644
index 0000000000000000000000000000000000000000..65875c27b614c4d52d52cc6a147d0a92a2815c78
--- /dev/null
+++ b/handover_block_wp1/handover_block_wp1/instructions/episode10.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use left arm to pick red block, avoid the globe with smooth surface during handoff, right arm place blue pad.",
+    "Grab the red block, transfer it while steering clear of the round Earth globe, place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the spinning brown globe, place on blue pad.",
+    "Take the red block from the table, pass it clear of the wooden globe with metal base, and put it on blue pad.",
+    "Left arm lifts red block, handover away from the globe with curved black stand, right arm sets it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the brown globe on black stand, then places on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the round Earth globe, then place on blue pad.",
+    "Left arm grips red block, hands off away from the round Earth globe, right arm places on blue pad.",
+    "Lift the red block, do a handover avoiding the globe for geographic reference, then place it onto the blue pad.",
+    "Lift the red block, hand it across away from the smooth beige globe with continents, then place it on blue pad.",
+    "Take the red block from the table, hand over away from the globe with curved black stand, drop on blue pad.",
+    "Grab red block, pass it along a path clear of the Earth map globe, place onto blue pad.",
+    "Secure the red block, transfer it away from the spinning brown globe, and drop it onto the blue pad.",
+    "Pick the red block, hand it over while keeping clear of the wooden globe with metal base, then place on blue pad.",
+    "Left arm take red block, keep the pass away from the Earth map globe, right arm puts on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the round Earth globe, place blue pad.",
+    "Pick up the red block, transfer it while staying clear of the round globe with sturdy base, and place on blue pad.",
+    "Pick the red block, keep the transfer away from the spinning brown globe, and place it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the globe with smooth surface, then sets it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the spinning brown globe, set on blue pad.",
+    "Use left arm to pick red block, avoid the smooth beige globe with continents during handoff, right arm place blue pad.",
+    "Grab the red block, transfer it while steering clear of the decor piece globe, place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the round Earth globe, place on blue pad.",
+    "Take the red block from the table, pass it clear of the globe for geographic reference, and put it on blue pad.",
+    "Left arm lifts red block, handover away from the wooden globe with metal base, right arm sets it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the spinning brown globe, then places on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the smooth beige globe with continents, then place on blue pad.",
+    "Left arm grips red block, hands off away from the Earth map globe, right arm places on blue pad.",
+    "Lift the red block, do a handover avoiding the decor piece globe, then place it onto the blue pad.",
+    "Lift the red block, hand it across away from the wooden globe with metal base, then place it on blue pad.",
+    "Take the red block from the table, hand over away from the globe with curved black stand, drop on blue pad.",
+    "Grab red block, pass it along a path clear of the beige and brown globe, place onto blue pad.",
+    "Secure the red block, transfer it away from the round globe with sturdy base, and drop it onto the blue pad.",
+    "Pick the red block, hand it over while keeping clear of the brown globe on black stand, then place on blue pad.",
+    "Left arm take red block, keep the pass away from the round globe with sturdy base, right arm puts on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe with smooth surface, place blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe with curved black stand, and place on blue pad.",
+    "Pick the red block, keep the transfer away from the round Earth globe, and place it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the globe for geographic reference, then sets it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the round globe with sturdy base, set on blue pad.",
+    "Use left arm to pick red block, avoid the brown globe on black stand during handoff, right arm place blue pad.",
+    "Grab the red block, transfer it while steering clear of the round globe with sturdy base, place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the spinning brown globe, place on blue pad.",
+    "Take the red block from the table, pass it clear of the globe for geographic reference, and put it on blue pad.",
+    "Left arm lifts red block, handover away from the round Earth globe, right arm sets it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the round globe with sturdy base, then places on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the spinning brown globe, then place on blue pad.",
+    "Left arm grips red block, hands off away from the globe for geographic reference, right arm places on blue pad.",
+    "Lift the red block, do a handover avoiding the globe for geographic reference, then place it onto the blue pad.",
+    "Lift the red block, hand it across away from the wooden globe with metal base, then place it on blue pad.",
+    "Take the red block from the table, hand over away from the wooden globe with metal base, drop on blue pad.",
+    "Grab red block, pass it along a path clear of the decor piece globe, place onto blue pad.",
+    "Secure the red block, transfer it away from the decor piece globe, and drop it onto the blue pad.",
+    "Pick the red block, hand it over while keeping clear of the globe with curved black stand, then place on blue pad.",
+    "Left arm take red block, keep the pass away from the Earth map globe, right arm puts on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe with curved black stand, place blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe with smooth surface, and place on blue pad.",
+    "Pick the red block, keep the transfer away from the round Earth globe, and place it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the decor piece globe, then sets it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the beige and brown globe, set on blue pad.",
+    "Use left arm to pick red block, avoid the round globe with sturdy base during handoff, right arm place blue pad.",
+    "Grab the red block, transfer it while steering clear of the globe for geographic reference, place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the brown globe on black stand, place on blue pad.",
+    "Take the red block from the table, pass it clear of the globe with smooth surface, and put it on blue pad.",
+    "Left arm lifts red block, handover away from the globe for geographic reference, right arm sets it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe with curved black stand, then places on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe with curved black stand, then place on blue pad.",
+    "Left arm grips red block, hands off away from the spinning brown globe, right arm places on blue pad.",
+    "Lift the red block, do a handover avoiding the Earth map globe, then place it onto the blue pad.",
+    "Lift the red block, hand it across away from the Earth map globe, then place it on blue pad.",
+    "Take the red block from the table, hand over away from the globe for geographic reference, drop on blue pad.",
+    "Grab red block, pass it along a path clear of the spinning brown globe, place onto blue pad.",
+    "Secure the red block, transfer it away from the globe with curved black stand, and drop it onto the blue pad.",
+    "Pick the red block, hand it over while keeping clear of the brown globe on black stand, then place on blue pad.",
+    "Left arm take red block, keep the pass away from the Earth map globe, right arm puts on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the beige and brown globe, place blue pad.",
+    "Pick up the red block, transfer it while staying clear of the brown globe on black stand, and place on blue pad.",
+    "Pick the red block, keep the transfer away from the spinning brown globe, and place it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the globe for geographic reference, then sets it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the brown globe on black stand, set on blue pad.",
+    "Use left arm to pick red block, avoid the globe with curved black stand during handoff, right arm place blue pad.",
+    "Grab the red block, transfer it while steering clear of the round Earth globe, place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe for geographic reference, place on blue pad.",
+    "Take the red block from the table, pass it clear of the beige and brown globe, and put it on blue pad.",
+    "Left arm lifts red block, handover away from the Earth map globe, right arm sets it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the smooth beige globe with continents, then places on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe with smooth surface, then place on blue pad.",
+    "Left arm grips red block, hands off away from the Earth map globe, right arm places on blue pad.",
+    "Lift the red block, do a handover avoiding the wooden globe with metal base, then place it onto the blue pad.",
+    "Lift the red block, hand it across away from the decor piece globe, then place it on blue pad.",
+    "Take the red block from the table, hand over away from the smooth beige globe with continents, drop on blue pad.",
+    "Grab red block, pass it along a path clear of the Earth map globe, place onto blue pad.",
+    "Secure the red block, transfer it away from the wooden globe with metal base, and drop it onto the blue pad.",
+    "Pick the red block, hand it over while keeping clear of the globe with smooth surface, then place on blue pad.",
+    "Left arm take red block, keep the pass away from the smooth beige globe with continents, right arm puts on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the round globe with sturdy base, place blue pad.",
+    "Pick up the red block, transfer it while staying clear of the spinning brown globe, and place on blue pad.",
+    "Pick the red block, keep the transfer away from the spinning brown globe, and place it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the smooth beige globe with continents, then sets it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the spinning brown globe, set on blue pad."
+  ],
+  "unseen": [
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad."
+  ]
+}
\ No newline at end of file
diff --git a/handover_block_wp1/handover_block_wp1/instructions/episode11.json b/handover_block_wp1/handover_block_wp1/instructions/episode11.json
new file mode 100644
index 0000000000000000000000000000000000000000..d310599699687840d9b927765c7c7e256d5fe030
--- /dev/null
+++ b/handover_block_wp1/handover_block_wp1/instructions/episode11.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the red block from the table, pass it clear of the earth-shaped globe with black frame, and put it on blue pad.",
+    "Take the red block from the table, hand over away from the colorful globe on black stand, drop on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe sitting on curved black base, place blue pad.",
+    "Left arm grabs red block, right arm receives it away from the compact globe with labeled countries, then sets it on blue pad.",
+    "Use left arm to pick red block, avoid the blue globe with colorful continents during handoff, right arm place blue pad.",
+    "Left arm grips red block, hands off away from the hand-sized globe on sturdy stand, right arm places on blue pad.",
+    "Lift the red block, hand it across away from the hand-sized globe on sturdy stand, then place it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the blue sphere with countries marked, place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe sitting on curved black base, place on blue pad.",
+    "Left arm take red block, keep the pass away from the small world globe, right arm puts on blue pad.",
+    "Pick the red block, keep the transfer away from the hand-sized globe on sturdy stand, and place it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the compact globe with labeled countries, then places on blue pad.",
+    "Grab red block, pass it along a path clear of the earth-shaped globe with black frame, place onto blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe with curved black base, then place on blue pad.",
+    "Left arm lifts red block, handover away from the colorful globe on black stand, right arm sets it on blue pad.",
+    "Lift the red block, do a handover avoiding the compact globe with labeled countries, then place it onto the blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe with curved black base, and place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the compact globe with labeled countries, set on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the globe with curved black base, then place on blue pad.",
+    "Secure the red block, transfer it away from the small sphere showing earth map, and drop it onto the blue pad.",
+    "Take the red block from the table, pass it clear of the blue globe with colorful continents, and put it on blue pad.",
+    "Take the red block from the table, hand over away from the blue globe, drop on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the hand-sized globe on sturdy stand, place blue pad.",
+    "Left arm grabs red block, right arm receives it away from the small sphere showing earth map, then sets it on blue pad.",
+    "Use left arm to pick red block, avoid the colorful globe on black stand during handoff, right arm place blue pad.",
+    "Left arm grips red block, hands off away from the blue globe, right arm places on blue pad.",
+    "Lift the red block, hand it across away from the small sphere showing earth map, then place it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the compact globe with labeled countries, place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the small world globe, place on blue pad.",
+    "Left arm take red block, keep the pass away from the colorful globe on black stand, right arm puts on blue pad.",
+    "Pick the red block, keep the transfer away from the blue globe, and place it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the blue globe with colorful continents, then places on blue pad.",
+    "Grab red block, pass it along a path clear of the blue globe with colorful continents, place onto blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe featuring bright country colors, then place on blue pad.",
+    "Left arm lifts red block, handover away from the blue globe with colorful continents, right arm sets it on blue pad.",
+    "Lift the red block, do a handover avoiding the compact globe with labeled countries, then place it onto the blue pad.",
+    "Pick up the red block, transfer it while staying clear of the blue globe with colorful continents, and place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe sitting on curved black base, set on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the colorful globe on black stand, then place on blue pad.",
+    "Secure the red block, transfer it away from the small sphere showing earth map, and drop it onto the blue pad.",
+    "Take the red block from the table, pass it clear of the small world globe, and put it on blue pad.",
+    "Take the red block from the table, hand over away from the small sphere showing earth map, drop on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe with curved black base, place blue pad.",
+    "Left arm grabs red block, right arm receives it away from the earth-shaped globe with black frame, then sets it on blue pad.",
+    "Use left arm to pick red block, avoid the small sphere showing earth map during handoff, right arm place blue pad.",
+    "Left arm grips red block, hands off away from the globe sitting on curved black base, right arm places on blue pad.",
+    "Lift the red block, hand it across away from the blue sphere with countries marked, then place it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the globe sitting on curved black base, place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe sitting on curved black base, place on blue pad.",
+    "Left arm take red block, keep the pass away from the globe featuring bright country colors, right arm puts on blue pad.",
+    "Pick the red block, keep the transfer away from the small world globe, and place it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the blue globe with colorful continents, then places on blue pad.",
+    "Grab red block, pass it along a path clear of the small sphere showing earth map, place onto blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the small world globe, then place on blue pad.",
+    "Left arm lifts red block, handover away from the colorful globe on black stand, right arm sets it on blue pad.",
+    "Lift the red block, do a handover avoiding the compact globe with labeled countries, then place it onto the blue pad.",
+    "Pick up the red block, transfer it while staying clear of the hand-sized globe on sturdy stand, and place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the compact globe with labeled countries, set on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the earth-shaped globe with black frame, then place on blue pad.",
+    "Secure the red block, transfer it away from the hand-sized globe on sturdy stand, and drop it onto the blue pad.",
+    "Take the red block from the table, pass it clear of the blue globe, and put it on blue pad.",
+    "Take the red block from the table, hand over away from the globe with curved black base, drop on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe featuring bright country colors, place blue pad.",
+    "Left arm grabs red block, right arm receives it away from the hand-sized globe on sturdy stand, then sets it on blue pad.",
+    "Use left arm to pick red block, avoid the colorful globe on black stand during handoff, right arm place blue pad.",
+    "Left arm grips red block, hands off away from the blue sphere with countries marked, right arm places on blue pad.",
+    "Lift the red block, hand it across away from the blue sphere with countries marked, then place it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the hand-sized globe on sturdy stand, place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe sitting on curved black base, place on blue pad.",
+    "Left arm take red block, keep the pass away from the hand-sized globe on sturdy stand, right arm puts on blue pad.",
+    "Pick the red block, keep the transfer away from the small sphere showing earth map, and place it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the earth-shaped globe with black frame, then places on blue pad.",
+    "Grab red block, pass it along a path clear of the compact globe with labeled countries, place onto blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe sitting on curved black base, then place on blue pad.",
+    "Left arm lifts red block, handover away from the small sphere showing earth map, right arm sets it on blue pad.",
+    "Lift the red block, do a handover avoiding the small world globe, then place it onto the blue pad.",
+    "Pick up the red block, transfer it while staying clear of the blue globe with colorful continents, and place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the earth-shaped globe with black frame, set on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the small sphere showing earth map, then place on blue pad.",
+    "Secure the red block, transfer it away from the colorful globe on black stand, and drop it onto the blue pad.",
+    "Take the red block from the table, pass it clear of the blue globe, and put it on blue pad.",
+    "Take the red block from the table, hand over away from the compact globe with labeled countries, drop on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the blue sphere with countries marked, place blue pad.",
+    "Left arm grabs red block, right arm receives it away from the globe with curved black base, then sets it on blue pad.",
+    "Use left arm to pick red block, avoid the globe featuring bright country colors during handoff, right arm place blue pad.",
+    "Left arm grips red block, hands off away from the hand-sized globe on sturdy stand, right arm places on blue pad.",
+    "Lift the red block, hand it across away from the colorful globe on black stand, then place it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the small world globe, place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the blue globe with colorful continents, place on blue pad.",
+    "Left arm take red block, keep the pass away from the hand-sized globe on sturdy stand, right arm puts on blue pad.",
+    "Pick the red block, keep the transfer away from the blue globe with colorful continents, and place it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the earth-shaped globe with black frame, then places on blue pad.",
+    "Grab red block, pass it along a path clear of the globe featuring bright country colors, place onto blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the compact globe with labeled countries, then place on blue pad.",
+    "Left arm lifts red block, handover away from the earth-shaped globe with black frame, right arm sets it on blue pad.",
+    "Lift the red block, do a handover avoiding the blue sphere with countries marked, then place it onto the blue pad.",
+    "Pick up the red block, transfer it while staying clear of the hand-sized globe on sturdy stand, and place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe featuring bright country colors, set on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the small sphere showing earth map, then place on blue pad.",
+    "Secure the red block, transfer it away from the blue globe with colorful continents, and drop it onto the blue pad."
+  ],
+  "unseen": [
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad."
+  ]
+}
\ No newline at end of file
diff --git a/handover_block_wp1/handover_block_wp1/instructions/episode12.json b/handover_block_wp1/handover_block_wp1/instructions/episode12.json
new file mode 100644
index 0000000000000000000000000000000000000000..2fd5bdf65b827cb98b9bb89b9561d421aee93428
--- /dev/null
+++ b/handover_block_wp1/handover_block_wp1/instructions/episode12.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the red block, hand it across away from the round Earth globe, then place it on blue pad.",
+    "Left arm lifts red block, handover away from the round globe with sturdy base, right arm sets it on blue pad.",
+    "Take the red block from the table, pass it clear of the globe with curved black stand, and put it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the globe for geographic reference, then sets it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe with curved black stand, set on blue pad.",
+    "Grab the red block, transfer it while steering clear of the brown globe on black stand, place on blue pad.",
+    "Take the red block from the table, hand over away from the globe with curved black stand, drop on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the round globe with sturdy base, then place on blue pad.",
+    "Secure the red block, transfer it away from the Earth map globe, and drop it onto the blue pad.",
+    "Lift the red block, do a handover avoiding the decor piece globe, then place it onto the blue pad.",
+    "Left arm take red block, keep the pass away from the brown globe on black stand, right arm puts on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the spinning brown globe, and place on blue pad.",
+    "Grab red block, pass it along a path clear of the spinning brown globe, place onto blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe with curved black stand, then places on blue pad.",
+    "Pick the red block, keep the transfer away from the globe with curved black stand, and place it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the round globe with sturdy base, place blue pad.",
+    "Left arm grips red block, hands off away from the Earth map globe, right arm places on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the round Earth globe, then place on blue pad.",
+    "Use left arm to pick red block, avoid the wooden globe with metal base during handoff, right arm place blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe with smooth surface, place on blue pad.",
+    "Lift the red block, hand it across away from the Earth map globe, then place it on blue pad.",
+    "Left arm lifts red block, handover away from the wooden globe with metal base, right arm sets it on blue pad.",
+    "Take the red block from the table, pass it clear of the beige and brown globe, and put it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the wooden globe with metal base, then sets it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the spinning brown globe, set on blue pad.",
+    "Grab the red block, transfer it while steering clear of the globe with curved black stand, place on blue pad.",
+    "Take the red block from the table, hand over away from the brown globe on black stand, drop on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the decor piece globe, then place on blue pad.",
+    "Secure the red block, transfer it away from the wooden globe with metal base, and drop it onto the blue pad.",
+    "Lift the red block, do a handover avoiding the brown globe on black stand, then place it onto the blue pad.",
+    "Left arm take red block, keep the pass away from the globe with curved black stand, right arm puts on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe for geographic reference, and place on blue pad.",
+    "Grab red block, pass it along a path clear of the beige and brown globe, place onto blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the smooth beige globe with continents, then places on blue pad.",
+    "Pick the red block, keep the transfer away from the round globe with sturdy base, and place it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the spinning brown globe, place blue pad.",
+    "Left arm grips red block, hands off away from the wooden globe with metal base, right arm places on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the globe with smooth surface, then place on blue pad.",
+    "Use left arm to pick red block, avoid the spinning brown globe during handoff, right arm place blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe with curved black stand, place on blue pad.",
+    "Lift the red block, hand it across away from the round Earth globe, then place it on blue pad.",
+    "Left arm lifts red block, handover away from the decor piece globe, right arm sets it on blue pad.",
+    "Take the red block from the table, pass it clear of the spinning brown globe, and put it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the Earth map globe, then sets it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the spinning brown globe, set on blue pad.",
+    "Grab the red block, transfer it while steering clear of the globe for geographic reference, place on blue pad.",
+    "Take the red block from the table, hand over away from the globe for geographic reference, drop on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe for geographic reference, then place on blue pad.",
+    "Secure the red block, transfer it away from the beige and brown globe, and drop it onto the blue pad.",
+    "Lift the red block, do a handover avoiding the globe with curved black stand, then place it onto the blue pad.",
+    "Left arm take red block, keep the pass away from the beige and brown globe, right arm puts on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe for geographic reference, and place on blue pad.",
+    "Grab red block, pass it along a path clear of the smooth beige globe with continents, place onto blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the Earth map globe, then places on blue pad.",
+    "Pick the red block, keep the transfer away from the globe for geographic reference, and place it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe with smooth surface, place blue pad.",
+    "Left arm grips red block, hands off away from the brown globe on black stand, right arm places on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the round Earth globe, then place on blue pad.",
+    "Use left arm to pick red block, avoid the smooth beige globe with continents during handoff, right arm place blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the round Earth globe, place on blue pad.",
+    "Lift the red block, hand it across away from the globe for geographic reference, then place it on blue pad.",
+    "Left arm lifts red block, handover away from the wooden globe with metal base, right arm sets it on blue pad.",
+    "Take the red block from the table, pass it clear of the globe for geographic reference, and put it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the globe for geographic reference, then sets it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe with curved black stand, set on blue pad.",
+    "Grab the red block, transfer it while steering clear of the brown globe on black stand, place on blue pad.",
+    "Take the red block from the table, hand over away from the smooth beige globe with continents, drop on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe for geographic reference, then place on blue pad.",
+    "Secure the red block, transfer it away from the round globe with sturdy base, and drop it onto the blue pad.",
+    "Lift the red block, do a handover avoiding the beige and brown globe, then place it onto the blue pad.",
+    "Left arm take red block, keep the pass away from the round globe with sturdy base, right arm puts on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe for geographic reference, and place on blue pad.",
+    "Grab red block, pass it along a path clear of the spinning brown globe, place onto blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the smooth beige globe with continents, then places on blue pad.",
+    "Pick the red block, keep the transfer away from the globe for geographic reference, and place it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe with smooth surface, place blue pad.",
+    "Left arm grips red block, hands off away from the Earth map globe, right arm places on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the globe with smooth surface, then place on blue pad.",
+    "Use left arm to pick red block, avoid the spinning brown globe during handoff, right arm place blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe for geographic reference, place on blue pad.",
+    "Lift the red block, hand it across away from the decor piece globe, then place it on blue pad.",
+    "Left arm lifts red block, handover away from the globe with smooth surface, right arm sets it on blue pad.",
+    "Take the red block from the table, pass it clear of the globe for geographic reference, and put it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the spinning brown globe, then sets it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the wooden globe with metal base, set on blue pad.",
+    "Grab the red block, transfer it while steering clear of the wooden globe with metal base, place on blue pad.",
+    "Take the red block from the table, hand over away from the wooden globe with metal base, drop on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the round globe with sturdy base, then place on blue pad.",
+    "Secure the red block, transfer it away from the decor piece globe, and drop it onto the blue pad.",
+    "Lift the red block, do a handover avoiding the globe with curved black stand, then place it onto the blue pad.",
+    "Left arm take red block, keep the pass away from the beige and brown globe, right arm puts on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the decor piece globe, and place on blue pad.",
+    "Grab red block, pass it along a path clear of the wooden globe with metal base, place onto blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the round globe with sturdy base, then places on blue pad.",
+    "Pick the red block, keep the transfer away from the globe with smooth surface, and place it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the smooth beige globe with continents, place blue pad.",
+    "Left arm grips red block, hands off away from the globe with curved black stand, right arm places on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the spinning brown globe, then place on blue pad.",
+    "Use left arm to pick red block, avoid the Earth map globe during handoff, right arm place blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe with curved black stand, place on blue pad."
+  ],
+  "unseen": [
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad."
+  ]
+}
\ No newline at end of file
diff --git a/handover_block_wp1/handover_block_wp1/instructions/episode13.json b/handover_block_wp1/handover_block_wp1/instructions/episode13.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff41aca194ee87b9ddb04c161930dfc9bcba6838
--- /dev/null
+++ b/handover_block_wp1/handover_block_wp1/instructions/episode13.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the red block from the table, pass it clear of the blue globe with colorful continents, and put it on blue pad.",
+    "Lift the red block, hand it across away from the hand-sized globe on sturdy stand, then place it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the compact globe with labeled countries, then places on blue pad.",
+    "Take the red block from the table, hand over away from the colorful globe on black stand, drop on blue pad.",
+    "Left arm grips red block, hands off away from the globe featuring bright country colors, right arm places on blue pad.",
+    "Use left arm to pick red block, avoid the colorful globe on black stand during handoff, right arm place blue pad.",
+    "Left arm grabs red block, right arm receives it away from the blue sphere with countries marked, then sets it on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the small sphere showing earth map, and place on blue pad.",
+    "Grab red block, pass it along a path clear of the compact globe with labeled countries, place onto blue pad.",
+    "Secure the red block, transfer it away from the blue sphere with countries marked, and drop it onto the blue pad.",
+    "Left arm take red block, keep the pass away from the colorful globe on black stand, right arm puts on blue pad.",
+    "Left arm lifts red block, handover away from the small world globe, right arm sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the blue sphere with countries marked, place blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the compact globe with labeled countries, set on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the colorful globe on black stand, place on blue pad.",
+    "Lift the red block, do a handover avoiding the small world globe, then place it onto the blue pad.",
+    "Grab the red block, transfer it while steering clear of the blue sphere with countries marked, place on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the colorful globe on black stand, then place on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the earth-shaped globe with black frame, then place on blue pad.",
+    "Pick the red block, keep the transfer away from the blue globe, and place it on blue pad.",
+    "Take the red block from the table, pass it clear of the blue globe with colorful continents, and put it on blue pad.",
+    "Lift the red block, hand it across away from the small world globe, then place it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe featuring bright country colors, then places on blue pad.",
+    "Take the red block from the table, hand over away from the small world globe, drop on blue pad.",
+    "Left arm grips red block, hands off away from the blue sphere with countries marked, right arm places on blue pad.",
+    "Use left arm to pick red block, avoid the globe featuring bright country colors during handoff, right arm place blue pad.",
+    "Left arm grabs red block, right arm receives it away from the globe with curved black base, then sets it on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the compact globe with labeled countries, and place on blue pad.",
+    "Grab red block, pass it along a path clear of the small world globe, place onto blue pad.",
+    "Secure the red block, transfer it away from the earth-shaped globe with black frame, and drop it onto the blue pad.",
+    "Left arm take red block, keep the pass away from the small sphere showing earth map, right arm puts on blue pad.",
+    "Left arm lifts red block, handover away from the small world globe, right arm sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the blue sphere with countries marked, place blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the earth-shaped globe with black frame, set on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the small sphere showing earth map, place on blue pad.",
+    "Lift the red block, do a handover avoiding the globe featuring bright country colors, then place it onto the blue pad.",
+    "Grab the red block, transfer it while steering clear of the compact globe with labeled countries, place on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the blue globe with colorful continents, then place on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the hand-sized globe on sturdy stand, then place on blue pad.",
+    "Pick the red block, keep the transfer away from the globe with curved black base, and place it on blue pad.",
+    "Take the red block from the table, pass it clear of the blue globe, and put it on blue pad.",
+    "Lift the red block, hand it across away from the blue globe with colorful continents, then place it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the colorful globe on black stand, then places on blue pad.",
+    "Take the red block from the table, hand over away from the blue sphere with countries marked, drop on blue pad.",
+    "Left arm grips red block, hands off away from the earth-shaped globe with black frame, right arm places on blue pad.",
+    "Use left arm to pick red block, avoid the colorful globe on black stand during handoff, right arm place blue pad.",
+    "Left arm grabs red block, right arm receives it away from the blue globe with colorful continents, then sets it on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the blue globe with colorful continents, and place on blue pad.",
+    "Grab red block, pass it along a path clear of the earth-shaped globe with black frame, place onto blue pad.",
+    "Secure the red block, transfer it away from the blue sphere with countries marked, and drop it onto the blue pad.",
+    "Left arm take red block, keep the pass away from the small world globe, right arm puts on blue pad.",
+    "Left arm lifts red block, handover away from the small sphere showing earth map, right arm sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the small world globe, place blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the blue globe, set on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the blue globe with colorful continents, place on blue pad.",
+    "Lift the red block, do a handover avoiding the earth-shaped globe with black frame, then place it onto the blue pad.",
+    "Grab the red block, transfer it while steering clear of the compact globe with labeled countries, place on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the compact globe with labeled countries, then place on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the globe with curved black base, then place on blue pad.",
+    "Pick the red block, keep the transfer away from the compact globe with labeled countries, and place it on blue pad.",
+    "Take the red block from the table, pass it clear of the blue sphere with countries marked, and put it on blue pad.",
+    "Lift the red block, hand it across away from the compact globe with labeled countries, then place it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the small world globe, then places on blue pad.",
+    "Take the red block from the table, hand over away from the blue globe with colorful continents, drop on blue pad.",
+    "Left arm grips red block, hands off away from the blue sphere with countries marked, right arm places on blue pad.",
+    "Use left arm to pick red block, avoid the compact globe with labeled countries during handoff, right arm place blue pad.",
+    "Left arm grabs red block, right arm receives it away from the blue sphere with countries marked, then sets it on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe sitting on curved black base, and place on blue pad.",
+    "Grab red block, pass it along a path clear of the compact globe with labeled countries, place onto blue pad.",
+    "Secure the red block, transfer it away from the blue globe, and drop it onto the blue pad.",
+    "Left arm take red block, keep the pass away from the globe with curved black base, right arm puts on blue pad.",
+    "Left arm lifts red block, handover away from the globe with curved black base, right arm sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe with curved black base, place blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the compact globe with labeled countries, set on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe with curved black base, place on blue pad.",
+    "Lift the red block, do a handover avoiding the colorful globe on black stand, then place it onto the blue pad.",
+    "Grab the red block, transfer it while steering clear of the earth-shaped globe with black frame, place on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the blue globe with colorful continents, then place on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the blue sphere with countries marked, then place on blue pad.",
+    "Pick the red block, keep the transfer away from the globe featuring bright country colors, and place it on blue pad.",
+    "Take the red block from the table, pass it clear of the blue globe with colorful continents, and put it on blue pad.",
+    "Lift the red block, hand it across away from the blue globe, then place it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the small sphere showing earth map, then places on blue pad.",
+    "Take the red block from the table, hand over away from the earth-shaped globe with black frame, drop on blue pad.",
+    "Left arm grips red block, hands off away from the hand-sized globe on sturdy stand, right arm places on blue pad.",
+    "Use left arm to pick red block, avoid the globe with curved black base during handoff, right arm place blue pad.",
+    "Left arm grabs red block, right arm receives it away from the small sphere showing earth map, then sets it on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the small sphere showing earth map, and place on blue pad.",
+    "Grab red block, pass it along a path clear of the compact globe with labeled countries, place onto blue pad.",
+    "Secure the red block, transfer it away from the blue globe, and drop it onto the blue pad.",
+    "Left arm take red block, keep the pass away from the blue globe, right arm puts on blue pad.",
+    "Left arm lifts red block, handover away from the blue globe with colorful continents, right arm sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the blue globe with colorful continents, place blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the colorful globe on black stand, set on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe with curved black base, place on blue pad.",
+    "Lift the red block, do a handover avoiding the blue globe with colorful continents, then place it onto the blue pad.",
+    "Grab the red block, transfer it while steering clear of the blue sphere with countries marked, place on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the blue globe with colorful continents, then place on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the compact globe with labeled countries, then place on blue pad.",
+    "Pick the red block, keep the transfer away from the small sphere showing earth map, and place it on blue pad."
+  ],
+  "unseen": [
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand."
+  ]
+}
\ No newline at end of file
diff --git a/handover_block_wp1/handover_block_wp1/instructions/episode14.json b/handover_block_wp1/handover_block_wp1/instructions/episode14.json
new file mode 100644
index 0000000000000000000000000000000000000000..4e162b251319d7e0b8b1467f79f5097f7dba12da
--- /dev/null
+++ b/handover_block_wp1/handover_block_wp1/instructions/episode14.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use left arm to pick red block, avoid the blue sphere with countries marked during handoff, right arm place blue pad.",
+    "Left arm grabs red block, right arm receives it away from the small world globe, then sets it on blue pad.",
+    "Grab red block, pass it along a path clear of the small sphere showing earth map, place onto blue pad.",
+    "Pick up the red block, transfer it while staying clear of the blue globe with colorful continents, and place on blue pad.",
+    "Take the red block from the table, hand over away from the earth-shaped globe with black frame, drop on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the blue globe with colorful continents, then place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe with curved black base, set on blue pad.",
+    "Lift the red block, hand it across away from the hand-sized globe on sturdy stand, then place it on blue pad.",
+    "Left arm lifts red block, handover away from the globe sitting on curved black base, right arm sets it on blue pad.",
+    "Left arm grips red block, hands off away from the colorful globe on black stand, right arm places on blue pad.",
+    "Lift the red block, do a handover avoiding the earth-shaped globe with black frame, then place it onto the blue pad.",
+    "Grab the red block, transfer it while steering clear of the small sphere showing earth map, place on blue pad.",
+    "Left arm take red block, keep the pass away from the earth-shaped globe with black frame, right arm puts on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the blue globe, place blue pad.",
+    "Secure the red block, transfer it away from the blue globe with colorful continents, and drop it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe sitting on curved black base, then place on blue pad.",
+    "Take the red block from the table, pass it clear of the blue globe, and put it on blue pad.",
+    "Pick the red block, keep the transfer away from the earth-shaped globe with black frame, and place it on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the earth-shaped globe with black frame, place on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe featuring bright country colors, then places on blue pad.",
+    "Use left arm to pick red block, avoid the blue globe during handoff, right arm place blue pad.",
+    "Left arm grabs red block, right arm receives it away from the earth-shaped globe with black frame, then sets it on blue pad.",
+    "Grab red block, pass it along a path clear of the blue globe with colorful continents, place onto blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe featuring bright country colors, and place on blue pad.",
+    "Take the red block from the table, hand over away from the colorful globe on black stand, drop on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the small sphere showing earth map, then place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the blue globe with colorful continents, set on blue pad.",
+    "Lift the red block, hand it across away from the blue sphere with countries marked, then place it on blue pad.",
+    "Left arm lifts red block, handover away from the blue globe, right arm sets it on blue pad.",
+    "Left arm grips red block, hands off away from the blue sphere with countries marked, right arm places on blue pad.",
+    "Lift the red block, do a handover avoiding the compact globe with labeled countries, then place it onto the blue pad.",
+    "Grab the red block, transfer it while steering clear of the blue globe, place on blue pad.",
+    "Left arm take red block, keep the pass away from the blue globe with colorful continents, right arm puts on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the blue globe with colorful continents, place blue pad.",
+    "Secure the red block, transfer it away from the small sphere showing earth map, and drop it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the compact globe with labeled countries, then place on blue pad.",
+    "Take the red block from the table, pass it clear of the globe with curved black base, and put it on blue pad.",
+    "Pick the red block, keep the transfer away from the globe featuring bright country colors, and place it on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the blue globe, place on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the hand-sized globe on sturdy stand, then places on blue pad.",
+    "Use left arm to pick red block, avoid the small sphere showing earth map during handoff, right arm place blue pad.",
+    "Left arm grabs red block, right arm receives it away from the small world globe, then sets it on blue pad.",
+    "Grab red block, pass it along a path clear of the colorful globe on black stand, place onto blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe featuring bright country colors, and place on blue pad.",
+    "Take the red block from the table, hand over away from the blue sphere with countries marked, drop on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the globe featuring bright country colors, then place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the blue globe, set on blue pad.",
+    "Lift the red block, hand it across away from the globe sitting on curved black base, then place it on blue pad.",
+    "Left arm lifts red block, handover away from the blue globe, right arm sets it on blue pad.",
+    "Left arm grips red block, hands off away from the small world globe, right arm places on blue pad.",
+    "Lift the red block, do a handover avoiding the hand-sized globe on sturdy stand, then place it onto the blue pad.",
+    "Grab the red block, transfer it while steering clear of the small sphere showing earth map, place on blue pad.",
+    "Left arm take red block, keep the pass away from the small world globe, right arm puts on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the small world globe, place blue pad.",
+    "Secure the red block, transfer it away from the blue globe with colorful continents, and drop it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe with curved black base, then place on blue pad.",
+    "Take the red block from the table, pass it clear of the hand-sized globe on sturdy stand, and put it on blue pad.",
+    "Pick the red block, keep the transfer away from the earth-shaped globe with black frame, and place it on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the compact globe with labeled countries, place on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the small sphere showing earth map, then places on blue pad.",
+    "Use left arm to pick red block, avoid the globe sitting on curved black base during handoff, right arm place blue pad.",
+    "Left arm grabs red block, right arm receives it away from the hand-sized globe on sturdy stand, then sets it on blue pad.",
+    "Grab red block, pass it along a path clear of the hand-sized globe on sturdy stand, place onto blue pad.",
+    "Pick up the red block, transfer it while staying clear of the small world globe, and place on blue pad.",
+    "Take the red block from the table, hand over away from the blue sphere with countries marked, drop on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the hand-sized globe on sturdy stand, then place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the small world globe, set on blue pad.",
+    "Lift the red block, hand it across away from the small world globe, then place it on blue pad.",
+    "Left arm lifts red block, handover away from the colorful globe on black stand, right arm sets it on blue pad.",
+    "Left arm grips red block, hands off away from the blue sphere with countries marked, right arm places on blue pad.",
+    "Lift the red block, do a handover avoiding the earth-shaped globe with black frame, then place it onto the blue pad.",
+    "Grab the red block, transfer it while steering clear of the compact globe with labeled countries, place on blue pad.",
+    "Left arm take red block, keep the pass away from the colorful globe on black stand, right arm puts on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe sitting on curved black base, place blue pad.",
+    "Secure the red block, transfer it away from the globe featuring bright country colors, and drop it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the hand-sized globe on sturdy stand, then place on blue pad.",
+    "Take the red block from the table, pass it clear of the globe featuring bright country colors, and put it on blue pad.",
+    "Pick the red block, keep the transfer away from the colorful globe on black stand, and place it on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the small sphere showing earth map, place on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the blue globe with colorful continents, then places on blue pad.",
+    "Use left arm to pick red block, avoid the blue globe with colorful continents during handoff, right arm place blue pad.",
+    "Left arm grabs red block, right arm receives it away from the colorful globe on black stand, then sets it on blue pad.",
+    "Grab red block, pass it along a path clear of the blue globe, place onto blue pad.",
+    "Pick up the red block, transfer it while staying clear of the hand-sized globe on sturdy stand, and place on blue pad.",
+    "Take the red block from the table, hand over away from the earth-shaped globe with black frame, drop on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the globe featuring bright country colors, then place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe featuring bright country colors, set on blue pad.",
+    "Lift the red block, hand it across away from the blue globe, then place it on blue pad.",
+    "Left arm lifts red block, handover away from the globe with curved black base, right arm sets it on blue pad.",
+    "Left arm grips red block, hands off away from the colorful globe on black stand, right arm places on blue pad.",
+    "Lift the red block, do a handover avoiding the globe with curved black base, then place it onto the blue pad.",
+    "Grab the red block, transfer it while steering clear of the globe with curved black base, place on blue pad.",
+    "Left arm take red block, keep the pass away from the globe sitting on curved black base, right arm puts on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the earth-shaped globe with black frame, place blue pad.",
+    "Secure the red block, transfer it away from the small sphere showing earth map, and drop it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe sitting on curved black base, then place on blue pad.",
+    "Take the red block from the table, pass it clear of the blue globe with colorful continents, and put it on blue pad.",
+    "Pick the red block, keep the transfer away from the hand-sized globe on sturdy stand, and place it on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the blue globe with colorful continents, place on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the earth-shaped globe with black frame, then places on blue pad."
+  ],
+  "unseen": [
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad."
+  ]
+}
\ No newline at end of file
diff --git a/handover_block_wp1/handover_block_wp1/instructions/episode15.json b/handover_block_wp1/handover_block_wp1/instructions/episode15.json
new file mode 100644
index 0000000000000000000000000000000000000000..5712e24954a8db123f6d46819dae7d45220a7c64
--- /dev/null
+++ b/handover_block_wp1/handover_block_wp1/instructions/episode15.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Left arm lifts red block, handover away from the small sphere showing earth map, right arm sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the blue sphere with countries marked, place blue pad.",
+    "Pick the red block, hand it over while keeping clear of the compact globe with labeled countries, then place on blue pad.",
+    "Use left arm to pick red block, avoid the compact globe with labeled countries during handoff, right arm place blue pad.",
+    "Left arm grabs red block, right arm receives it away from the blue globe with colorful continents, then sets it on blue pad.",
+    "Pick the red block, keep the transfer away from the compact globe with labeled countries, and place it on blue pad.",
+    "Secure the red block, transfer it away from the earth-shaped globe with black frame, and drop it onto the blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe featuring bright country colors, set on blue pad.",
+    "Take the red block from the table, hand over away from the blue globe with colorful continents, drop on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the blue globe, and place on blue pad.",
+    "Lift the red block, do a handover avoiding the blue globe with colorful continents, then place it onto the blue pad.",
+    "Left arm grips red block, hands off away from the blue globe with colorful continents, right arm places on blue pad.",
+    "Grab the red block, transfer it while steering clear of the compact globe with labeled countries, place on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe with curved black base, then places on blue pad.",
+    "Left arm take red block, keep the pass away from the blue sphere with countries marked, right arm puts on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the blue sphere with countries marked, place on blue pad.",
+    "Take the red block from the table, pass it clear of the small world globe, and put it on blue pad.",
+    "Grab red block, pass it along a path clear of the earth-shaped globe with black frame, place onto blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe with curved black base, then place on blue pad.",
+    "Lift the red block, hand it across away from the globe with curved black base, then place it on blue pad.",
+    "Left arm lifts red block, handover away from the hand-sized globe on sturdy stand, right arm sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe sitting on curved black base, place blue pad.",
+    "Pick the red block, hand it over while keeping clear of the earth-shaped globe with black frame, then place on blue pad.",
+    "Use left arm to pick red block, avoid the globe featuring bright country colors during handoff, right arm place blue pad.",
+    "Left arm grabs red block, right arm receives it away from the small world globe, then sets it on blue pad.",
+    "Pick the red block, keep the transfer away from the globe sitting on curved black base, and place it on blue pad.",
+    "Secure the red block, transfer it away from the small world globe, and drop it onto the blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the small world globe, set on blue pad.",
+    "Take the red block from the table, hand over away from the colorful globe on black stand, drop on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the blue sphere with countries marked, and place on blue pad.",
+    "Lift the red block, do a handover avoiding the blue globe with colorful continents, then place it onto the blue pad.",
+    "Left arm grips red block, hands off away from the blue globe with colorful continents, right arm places on blue pad.",
+    "Grab the red block, transfer it while steering clear of the blue globe with colorful continents, place on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the hand-sized globe on sturdy stand, then places on blue pad.",
+    "Left arm take red block, keep the pass away from the hand-sized globe on sturdy stand, right arm puts on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the hand-sized globe on sturdy stand, place on blue pad.",
+    "Take the red block from the table, pass it clear of the blue globe with colorful continents, and put it on blue pad.",
+    "Grab red block, pass it along a path clear of the compact globe with labeled countries, place onto blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the blue globe, then place on blue pad.",
+    "Lift the red block, hand it across away from the earth-shaped globe with black frame, then place it on blue pad.",
+    "Left arm lifts red block, handover away from the globe sitting on curved black base, right arm sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the blue globe, place blue pad.",
+    "Pick the red block, hand it over while keeping clear of the colorful globe on black stand, then place on blue pad.",
+    "Use left arm to pick red block, avoid the hand-sized globe on sturdy stand during handoff, right arm place blue pad.",
+    "Left arm grabs red block, right arm receives it away from the hand-sized globe on sturdy stand, then sets it on blue pad.",
+    "Pick the red block, keep the transfer away from the blue globe, and place it on blue pad.",
+    "Secure the red block, transfer it away from the hand-sized globe on sturdy stand, and drop it onto the blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the small sphere showing earth map, set on blue pad.",
+    "Take the red block from the table, hand over away from the blue globe, drop on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe with curved black base, and place on blue pad.",
+    "Lift the red block, do a handover avoiding the earth-shaped globe with black frame, then place it onto the blue pad.",
+    "Left arm grips red block, hands off away from the blue sphere with countries marked, right arm places on blue pad.",
+    "Grab the red block, transfer it while steering clear of the compact globe with labeled countries, place on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the small sphere showing earth map, then places on blue pad.",
+    "Left arm take red block, keep the pass away from the globe sitting on curved black base, right arm puts on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe sitting on curved black base, place on blue pad.",
+    "Take the red block from the table, pass it clear of the blue globe with colorful continents, and put it on blue pad.",
+    "Grab red block, pass it along a path clear of the compact globe with labeled countries, place onto blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the hand-sized globe on sturdy stand, then place on blue pad.",
+    "Lift the red block, hand it across away from the blue globe with colorful continents, then place it on blue pad.",
+    "Left arm lifts red block, handover away from the globe featuring bright country colors, right arm sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the blue globe with colorful continents, place blue pad.",
+    "Pick the red block, hand it over while keeping clear of the globe sitting on curved black base, then place on blue pad.",
+    "Use left arm to pick red block, avoid the globe sitting on curved black base during handoff, right arm place blue pad.",
+    "Left arm grabs red block, right arm receives it away from the blue globe with colorful continents, then sets it on blue pad.",
+    "Pick the red block, keep the transfer away from the small world globe, and place it on blue pad.",
+    "Secure the red block, transfer it away from the small world globe, and drop it onto the blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the blue globe with colorful continents, set on blue pad.",
+    "Take the red block from the table, hand over away from the small world globe, drop on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe with curved black base, and place on blue pad.",
+    "Lift the red block, do a handover avoiding the globe with curved black base, then place it onto the blue pad.",
+    "Left arm grips red block, hands off away from the compact globe with labeled countries, right arm places on blue pad.",
+    "Grab the red block, transfer it while steering clear of the small world globe, place on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the blue globe, then places on blue pad.",
+    "Left arm take red block, keep the pass away from the globe with curved black base, right arm puts on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the blue globe, place on blue pad.",
+    "Take the red block from the table, pass it clear of the hand-sized globe on sturdy stand, and put it on blue pad.",
+    "Grab red block, pass it along a path clear of the globe sitting on curved black base, place onto blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the blue globe with colorful continents, then place on blue pad.",
+    "Lift the red block, hand it across away from the globe sitting on curved black base, then place it on blue pad.",
+    "Left arm lifts red block, handover away from the small sphere showing earth map, right arm sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe sitting on curved black base, place blue pad.",
+    "Pick the red block, hand it over while keeping clear of the hand-sized globe on sturdy stand, then place on blue pad.",
+    "Use left arm to pick red block, avoid the blue globe with colorful continents during handoff, right arm place blue pad.",
+    "Left arm grabs red block, right arm receives it away from the globe featuring bright country colors, then sets it on blue pad.",
+    "Pick the red block, keep the transfer away from the compact globe with labeled countries, and place it on blue pad.",
+    "Secure the red block, transfer it away from the globe sitting on curved black base, and drop it onto the blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the small sphere showing earth map, set on blue pad.",
+    "Take the red block from the table, hand over away from the small sphere showing earth map, drop on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the colorful globe on black stand, and place on blue pad.",
+    "Lift the red block, do a handover avoiding the blue sphere with countries marked, then place it onto the blue pad.",
+    "Left arm grips red block, hands off away from the compact globe with labeled countries, right arm places on blue pad.",
+    "Grab the red block, transfer it while steering clear of the blue globe, place on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the small sphere showing earth map, then places on blue pad.",
+    "Left arm take red block, keep the pass away from the colorful globe on black stand, right arm puts on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the hand-sized globe on sturdy stand, place on blue pad.",
+    "Take the red block from the table, pass it clear of the blue globe with colorful continents, and put it on blue pad.",
+    "Grab red block, pass it along a path clear of the globe featuring bright country colors, place onto blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the compact globe with labeled countries, then place on blue pad.",
+    "Lift the red block, hand it across away from the blue globe, then place it on blue pad."
+  ],
+  "unseen": [
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand."
+  ]
+}
\ No newline at end of file
diff --git a/handover_block_wp1/handover_block_wp1/instructions/episode16.json b/handover_block_wp1/handover_block_wp1/instructions/episode16.json
new file mode 100644
index 0000000000000000000000000000000000000000..a243e838e728a57b9ad7cc6419d6f73feb274242
--- /dev/null
+++ b/handover_block_wp1/handover_block_wp1/instructions/episode16.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the red block, hand it over while keeping clear of the round globe with sturdy base, then place on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the smooth beige globe with continents, then place on blue pad.",
+    "Lift the red block, hand it across away from the beige and brown globe, then place it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the globe with smooth surface, then sets it on blue pad.",
+    "Secure the red block, transfer it away from the globe for geographic reference, and drop it onto the blue pad.",
+    "Take the red block from the table, pass it clear of the decor piece globe, and put it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the globe with smooth surface, place on blue pad.",
+    "Lift the red block, do a handover avoiding the round globe with sturdy base, then place it onto the blue pad.",
+    "Pick the red block, keep the transfer away from the smooth beige globe with continents, and place it on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the brown globe on black stand, place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe with curved black stand, and place on blue pad.",
+    "Left arm take red block, keep the pass away from the globe with smooth surface, right arm puts on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the spinning brown globe, set on blue pad.",
+    "Take the red block from the table, hand over away from the globe with curved black stand, drop on blue pad.",
+    "Left arm lifts red block, handover away from the Earth map globe, right arm sets it on blue pad.",
+    "Use left arm to pick red block, avoid the smooth beige globe with continents during handoff, right arm place blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the smooth beige globe with continents, then places on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the round globe with sturdy base, place blue pad.",
+    "Grab red block, pass it along a path clear of the brown globe on black stand, place onto blue pad.",
+    "Left arm grips red block, hands off away from the decor piece globe, right arm places on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the wooden globe with metal base, then place on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the spinning brown globe, then place on blue pad.",
+    "Lift the red block, hand it across away from the smooth beige globe with continents, then place it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the globe with curved black stand, then sets it on blue pad.",
+    "Secure the red block, transfer it away from the Earth map globe, and drop it onto the blue pad.",
+    "Take the red block from the table, pass it clear of the smooth beige globe with continents, and put it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the wooden globe with metal base, place on blue pad.",
+    "Lift the red block, do a handover avoiding the spinning brown globe, then place it onto the blue pad.",
+    "Pick the red block, keep the transfer away from the decor piece globe, and place it on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe with smooth surface, place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the beige and brown globe, and place on blue pad.",
+    "Left arm take red block, keep the pass away from the smooth beige globe with continents, right arm puts on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the Earth map globe, set on blue pad.",
+    "Take the red block from the table, hand over away from the round Earth globe, drop on blue pad.",
+    "Left arm lifts red block, handover away from the globe with curved black stand, right arm sets it on blue pad.",
+    "Use left arm to pick red block, avoid the spinning brown globe during handoff, right arm place blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the wooden globe with metal base, then places on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the spinning brown globe, place blue pad.",
+    "Grab red block, pass it along a path clear of the decor piece globe, place onto blue pad.",
+    "Left arm grips red block, hands off away from the smooth beige globe with continents, right arm places on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the beige and brown globe, then place on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the Earth map globe, then place on blue pad.",
+    "Lift the red block, hand it across away from the globe for geographic reference, then place it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the spinning brown globe, then sets it on blue pad.",
+    "Secure the red block, transfer it away from the round Earth globe, and drop it onto the blue pad.",
+    "Take the red block from the table, pass it clear of the smooth beige globe with continents, and put it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the decor piece globe, place on blue pad.",
+    "Lift the red block, do a handover avoiding the wooden globe with metal base, then place it onto the blue pad.",
+    "Pick the red block, keep the transfer away from the wooden globe with metal base, and place it on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe for geographic reference, place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe with curved black stand, and place on blue pad.",
+    "Left arm take red block, keep the pass away from the round globe with sturdy base, right arm puts on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the spinning brown globe, set on blue pad.",
+    "Take the red block from the table, hand over away from the smooth beige globe with continents, drop on blue pad.",
+    "Left arm lifts red block, handover away from the wooden globe with metal base, right arm sets it on blue pad.",
+    "Use left arm to pick red block, avoid the wooden globe with metal base during handoff, right arm place blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the brown globe on black stand, then places on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the decor piece globe, place blue pad.",
+    "Grab red block, pass it along a path clear of the round Earth globe, place onto blue pad.",
+    "Left arm grips red block, hands off away from the Earth map globe, right arm places on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the globe with smooth surface, then place on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the spinning brown globe, then place on blue pad.",
+    "Lift the red block, hand it across away from the globe with curved black stand, then place it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the globe for geographic reference, then sets it on blue pad.",
+    "Secure the red block, transfer it away from the spinning brown globe, and drop it onto the blue pad.",
+    "Take the red block from the table, pass it clear of the smooth beige globe with continents, and put it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the smooth beige globe with continents, place on blue pad.",
+    "Lift the red block, do a handover avoiding the smooth beige globe with continents, then place it onto the blue pad.",
+    "Pick the red block, keep the transfer away from the spinning brown globe, and place it on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the smooth beige globe with continents, place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the beige and brown globe, and place on blue pad.",
+    "Left arm take red block, keep the pass away from the spinning brown globe, right arm puts on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe for geographic reference, set on blue pad.",
+    "Take the red block from the table, hand over away from the smooth beige globe with continents, drop on blue pad.",
+    "Left arm lifts red block, handover away from the round Earth globe, right arm sets it on blue pad.",
+    "Use left arm to pick red block, avoid the beige and brown globe during handoff, right arm place blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the wooden globe with metal base, then places on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the Earth map globe, place blue pad.",
+    "Grab red block, pass it along a path clear of the decor piece globe, place onto blue pad.",
+    "Left arm grips red block, hands off away from the globe with smooth surface, right arm places on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the beige and brown globe, then place on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe with smooth surface, then place on blue pad.",
+    "Lift the red block, hand it across away from the round globe with sturdy base, then place it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the Earth map globe, then sets it on blue pad.",
+    "Secure the red block, transfer it away from the Earth map globe, and drop it onto the blue pad.",
+    "Take the red block from the table, pass it clear of the globe with curved black stand, and put it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the globe with curved black stand, place on blue pad.",
+    "Lift the red block, do a handover avoiding the decor piece globe, then place it onto the blue pad.",
+    "Pick the red block, keep the transfer away from the round globe with sturdy base, and place it on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the round globe with sturdy base, place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the smooth beige globe with continents, and place on blue pad.",
+    "Left arm take red block, keep the pass away from the wooden globe with metal base, right arm puts on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the brown globe on black stand, set on blue pad.",
+    "Take the red block from the table, hand over away from the globe with smooth surface, drop on blue pad.",
+    "Left arm lifts red block, handover away from the wooden globe with metal base, right arm sets it on blue pad.",
+    "Use left arm to pick red block, avoid the Earth map globe during handoff, right arm place blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the wooden globe with metal base, then places on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the round globe with sturdy base, place blue pad.",
+    "Grab red block, pass it along a path clear of the globe with curved black stand, place onto blue pad.",
+    "Left arm grips red block, hands off away from the spinning brown globe, right arm places on blue pad."
+  ],
+  "unseen": [
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad."
+  ]
+}
\ No newline at end of file
diff --git a/handover_block_wp1/handover_block_wp1/instructions/episode17.json b/handover_block_wp1/handover_block_wp1/instructions/episode17.json
new file mode 100644
index 0000000000000000000000000000000000000000..616118ec56bde3636f7716f75766372979389938
--- /dev/null
+++ b/handover_block_wp1/handover_block_wp1/instructions/episode17.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use left arm to pick red block, avoid the globe with curved black base during handoff, right arm place blue pad.",
+    "Pick the red block, hand it over while keeping clear of the blue sphere with countries marked, then place on blue pad.",
+    "Take the red block from the table, hand over away from the hand-sized globe on sturdy stand, drop on blue pad.",
+    "Grab red block, pass it along a path clear of the globe with curved black base, place onto blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the blue globe, place on blue pad.",
+    "Left arm take red block, keep the pass away from the earth-shaped globe with black frame, right arm puts on blue pad.",
+    "Lift the red block, do a handover avoiding the globe with curved black base, then place it onto the blue pad.",
+    "Pick the red block, keep the transfer away from the globe with curved black base, and place it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the colorful globe on black stand, then sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the colorful globe on black stand, place blue pad.",
+    "Left arm lifts red block, handover away from the hand-sized globe on sturdy stand, right arm sets it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the colorful globe on black stand, place on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the earth-shaped globe with black frame, then place on blue pad.",
+    "Lift the red block, hand it across away from the earth-shaped globe with black frame, then place it on blue pad.",
+    "Secure the red block, transfer it away from the blue sphere with countries marked, and drop it onto the blue pad.",
+    "Take the red block from the table, pass it clear of the globe sitting on curved black base, and put it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the earth-shaped globe with black frame, then places on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the blue sphere with countries marked, and place on blue pad.",
+    "Left arm grips red block, hands off away from the small sphere showing earth map, right arm places on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe with curved black base, set on blue pad.",
+    "Use left arm to pick red block, avoid the small world globe during handoff, right arm place blue pad.",
+    "Pick the red block, hand it over while keeping clear of the globe sitting on curved black base, then place on blue pad.",
+    "Take the red block from the table, hand over away from the compact globe with labeled countries, drop on blue pad.",
+    "Grab red block, pass it along a path clear of the globe sitting on curved black base, place onto blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the small sphere showing earth map, place on blue pad.",
+    "Left arm take red block, keep the pass away from the globe sitting on curved black base, right arm puts on blue pad.",
+    "Lift the red block, do a handover avoiding the globe featuring bright country colors, then place it onto the blue pad.",
+    "Pick the red block, keep the transfer away from the small world globe, and place it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the earth-shaped globe with black frame, then sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the blue globe, place blue pad.",
+    "Left arm lifts red block, handover away from the small sphere showing earth map, right arm sets it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the compact globe with labeled countries, place on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the compact globe with labeled countries, then place on blue pad.",
+    "Lift the red block, hand it across away from the globe with curved black base, then place it on blue pad.",
+    "Secure the red block, transfer it away from the blue sphere with countries marked, and drop it onto the blue pad.",
+    "Take the red block from the table, pass it clear of the globe with curved black base, and put it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the compact globe with labeled countries, then places on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the hand-sized globe on sturdy stand, and place on blue pad.",
+    "Left arm grips red block, hands off away from the blue globe, right arm places on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the blue sphere with countries marked, set on blue pad.",
+    "Use left arm to pick red block, avoid the globe featuring bright country colors during handoff, right arm place blue pad.",
+    "Pick the red block, hand it over while keeping clear of the globe sitting on curved black base, then place on blue pad.",
+    "Take the red block from the table, hand over away from the globe sitting on curved black base, drop on blue pad.",
+    "Grab red block, pass it along a path clear of the globe featuring bright country colors, place onto blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the blue globe, place on blue pad.",
+    "Left arm take red block, keep the pass away from the globe with curved black base, right arm puts on blue pad.",
+    "Lift the red block, do a handover avoiding the blue globe, then place it onto the blue pad.",
+    "Pick the red block, keep the transfer away from the blue sphere with countries marked, and place it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the earth-shaped globe with black frame, then sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe featuring bright country colors, place blue pad.",
+    "Left arm lifts red block, handover away from the globe with curved black base, right arm sets it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the globe featuring bright country colors, place on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the blue globe with colorful continents, then place on blue pad.",
+    "Lift the red block, hand it across away from the globe featuring bright country colors, then place it on blue pad.",
+    "Secure the red block, transfer it away from the colorful globe on black stand, and drop it onto the blue pad.",
+    "Take the red block from the table, pass it clear of the small world globe, and put it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe with curved black base, then places on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the small sphere showing earth map, and place on blue pad.",
+    "Left arm grips red block, hands off away from the colorful globe on black stand, right arm places on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the blue globe, set on blue pad.",
+    "Use left arm to pick red block, avoid the globe with curved black base during handoff, right arm place blue pad.",
+    "Pick the red block, hand it over while keeping clear of the globe sitting on curved black base, then place on blue pad.",
+    "Take the red block from the table, hand over away from the blue globe with colorful continents, drop on blue pad.",
+    "Grab red block, pass it along a path clear of the blue sphere with countries marked, place onto blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the blue globe, place on blue pad.",
+    "Left arm take red block, keep the pass away from the globe with curved black base, right arm puts on blue pad.",
+    "Lift the red block, do a handover avoiding the compact globe with labeled countries, then place it onto the blue pad.",
+    "Pick the red block, keep the transfer away from the globe with curved black base, and place it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the globe featuring bright country colors, then sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe featuring bright country colors, place blue pad.",
+    "Left arm lifts red block, handover away from the globe with curved black base, right arm sets it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the blue globe, place on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the earth-shaped globe with black frame, then place on blue pad.",
+    "Lift the red block, hand it across away from the hand-sized globe on sturdy stand, then place it on blue pad.",
+    "Secure the red block, transfer it away from the small sphere showing earth map, and drop it onto the blue pad.",
+    "Take the red block from the table, pass it clear of the globe sitting on curved black base, and put it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the hand-sized globe on sturdy stand, then places on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the earth-shaped globe with black frame, and place on blue pad.",
+    "Left arm grips red block, hands off away from the globe sitting on curved black base, right arm places on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe featuring bright country colors, set on blue pad.",
+    "Use left arm to pick red block, avoid the compact globe with labeled countries during handoff, right arm place blue pad.",
+    "Pick the red block, hand it over while keeping clear of the small world globe, then place on blue pad.",
+    "Take the red block from the table, hand over away from the small world globe, drop on blue pad.",
+    "Grab red block, pass it along a path clear of the earth-shaped globe with black frame, place onto blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the blue globe with colorful continents, place on blue pad.",
+    "Left arm take red block, keep the pass away from the globe with curved black base, right arm puts on blue pad.",
+    "Lift the red block, do a handover avoiding the earth-shaped globe with black frame, then place it onto the blue pad.",
+    "Pick the red block, keep the transfer away from the small sphere showing earth map, and place it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the hand-sized globe on sturdy stand, then sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the blue sphere with countries marked, place blue pad.",
+    "Left arm lifts red block, handover away from the globe with curved black base, right arm sets it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the globe sitting on curved black base, place on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the small world globe, then place on blue pad.",
+    "Lift the red block, hand it across away from the globe with curved black base, then place it on blue pad.",
+    "Secure the red block, transfer it away from the globe featuring bright country colors, and drop it onto the blue pad.",
+    "Take the red block from the table, pass it clear of the blue globe with colorful continents, and put it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe with curved black base, then places on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the colorful globe on black stand, and place on blue pad.",
+    "Left arm grips red block, hands off away from the globe featuring bright country colors, right arm places on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the blue globe with colorful continents, set on blue pad."
+  ],
+  "unseen": [
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad."
+  ]
+}
\ No newline at end of file
diff --git a/handover_block_wp1/handover_block_wp1/instructions/episode18.json b/handover_block_wp1/handover_block_wp1/instructions/episode18.json
new file mode 100644
index 0000000000000000000000000000000000000000..d81adaf3a248cc514cec2d413061b2539e40ebd1
--- /dev/null
+++ b/handover_block_wp1/handover_block_wp1/instructions/episode18.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Secure the red block, transfer it away from the colorful globe on black stand, and drop it onto the blue pad.",
+    "Use left arm to pick red block, avoid the blue globe with colorful continents during handoff, right arm place blue pad.",
+    "Grab red block, pass it along a path clear of the compact globe with labeled countries, place onto blue pad.",
+    "Lift the red block, do a handover avoiding the hand-sized globe on sturdy stand, then place it onto the blue pad.",
+    "Lift the red block, hand it across away from the blue globe with colorful continents, then place it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the hand-sized globe on sturdy stand, then place on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the compact globe with labeled countries, then sets it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe with curved black base, set on blue pad.",
+    "Take the red block from the table, pass it clear of the blue globe, and put it on blue pad.",
+    "Left arm grips red block, hands off away from the blue globe with colorful continents, right arm places on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the blue sphere with countries marked, then place on blue pad.",
+    "Left arm lifts red block, handover away from the compact globe with labeled countries, right arm sets it on blue pad.",
+    "Take the red block from the table, hand over away from the earth-shaped globe with black frame, drop on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the blue globe with colorful continents, then places on blue pad.",
+    "Pick the red block, keep the transfer away from the blue globe with colorful continents, and place it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the blue globe with colorful continents, place blue pad.",
+    "Left arm take red block, keep the pass away from the compact globe with labeled countries, right arm puts on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the hand-sized globe on sturdy stand, place on blue pad.",
+    "Grab the red block, transfer it while steering clear of the blue sphere with countries marked, place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the small world globe, and place on blue pad.",
+    "Secure the red block, transfer it away from the hand-sized globe on sturdy stand, and drop it onto the blue pad.",
+    "Use left arm to pick red block, avoid the globe featuring bright country colors during handoff, right arm place blue pad.",
+    "Grab red block, pass it along a path clear of the globe featuring bright country colors, place onto blue pad.",
+    "Lift the red block, do a handover avoiding the globe with curved black base, then place it onto the blue pad.",
+    "Lift the red block, hand it across away from the blue globe, then place it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the globe with curved black base, then place on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the blue globe with colorful continents, then sets it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe sitting on curved black base, set on blue pad.",
+    "Take the red block from the table, pass it clear of the blue sphere with countries marked, and put it on blue pad.",
+    "Left arm grips red block, hands off away from the blue globe with colorful continents, right arm places on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the colorful globe on black stand, then place on blue pad.",
+    "Left arm lifts red block, handover away from the globe featuring bright country colors, right arm sets it on blue pad.",
+    "Take the red block from the table, hand over away from the globe with curved black base, drop on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the blue globe with colorful continents, then places on blue pad.",
+    "Pick the red block, keep the transfer away from the blue globe with colorful continents, and place it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe featuring bright country colors, place blue pad.",
+    "Left arm take red block, keep the pass away from the blue globe with colorful continents, right arm puts on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe featuring bright country colors, place on blue pad.",
+    "Grab the red block, transfer it while steering clear of the globe featuring bright country colors, place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe with curved black base, and place on blue pad.",
+    "Secure the red block, transfer it away from the blue sphere with countries marked, and drop it onto the blue pad.",
+    "Use left arm to pick red block, avoid the blue globe during handoff, right arm place blue pad.",
+    "Grab red block, pass it along a path clear of the earth-shaped globe with black frame, place onto blue pad.",
+    "Lift the red block, do a handover avoiding the globe featuring bright country colors, then place it onto the blue pad.",
+    "Lift the red block, hand it across away from the small sphere showing earth map, then place it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the blue globe, then place on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the hand-sized globe on sturdy stand, then sets it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the small world globe, set on blue pad.",
+    "Take the red block from the table, pass it clear of the blue globe with colorful continents, and put it on blue pad.",
+    "Left arm grips red block, hands off away from the small world globe, right arm places on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the blue sphere with countries marked, then place on blue pad.",
+    "Left arm lifts red block, handover away from the earth-shaped globe with black frame, right arm sets it on blue pad.",
+    "Take the red block from the table, hand over away from the blue globe, drop on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the small sphere showing earth map, then places on blue pad.",
+    "Pick the red block, keep the transfer away from the globe with curved black base, and place it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe sitting on curved black base, place blue pad.",
+    "Left arm take red block, keep the pass away from the earth-shaped globe with black frame, right arm puts on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the blue sphere with countries marked, place on blue pad.",
+    "Grab the red block, transfer it while steering clear of the hand-sized globe on sturdy stand, place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the blue globe, and place on blue pad.",
+    "Secure the red block, transfer it away from the colorful globe on black stand, and drop it onto the blue pad.",
+    "Use left arm to pick red block, avoid the blue sphere with countries marked during handoff, right arm place blue pad.",
+    "Grab red block, pass it along a path clear of the globe sitting on curved black base, place onto blue pad.",
+    "Lift the red block, do a handover avoiding the small world globe, then place it onto the blue pad.",
+    "Lift the red block, hand it across away from the globe sitting on curved black base, then place it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the earth-shaped globe with black frame, then place on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the hand-sized globe on sturdy stand, then sets it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the blue globe with colorful continents, set on blue pad.",
+    "Take the red block from the table, pass it clear of the hand-sized globe on sturdy stand, and put it on blue pad.",
+    "Left arm grips red block, hands off away from the globe featuring bright country colors, right arm places on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the blue globe with colorful continents, then place on blue pad.",
+    "Left arm lifts red block, handover away from the earth-shaped globe with black frame, right arm sets it on blue pad.",
+    "Take the red block from the table, hand over away from the blue sphere with countries marked, drop on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe featuring bright country colors, then places on blue pad.",
+    "Pick the red block, keep the transfer away from the globe featuring bright country colors, and place it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe featuring bright country colors, place blue pad.",
+    "Left arm take red block, keep the pass away from the compact globe with labeled countries, right arm puts on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the blue globe, place on blue pad.",
+    "Grab the red block, transfer it while steering clear of the blue globe with colorful continents, place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the colorful globe on black stand, and place on blue pad.",
+    "Secure the red block, transfer it away from the globe featuring bright country colors, and drop it onto the blue pad.",
+    "Use left arm to pick red block, avoid the compact globe with labeled countries during handoff, right arm place blue pad.",
+    "Grab red block, pass it along a path clear of the small sphere showing earth map, place onto blue pad.",
+    "Lift the red block, do a handover avoiding the blue sphere with countries marked, then place it onto the blue pad.",
+    "Lift the red block, hand it across away from the globe sitting on curved black base, then place it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the hand-sized globe on sturdy stand, then place on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the globe with curved black base, then sets it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the colorful globe on black stand, set on blue pad.",
+    "Take the red block from the table, pass it clear of the small sphere showing earth map, and put it on blue pad.",
+    "Left arm grips red block, hands off away from the compact globe with labeled countries, right arm places on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the small sphere showing earth map, then place on blue pad.",
+    "Left arm lifts red block, handover away from the blue globe, right arm sets it on blue pad.",
+    "Take the red block from the table, hand over away from the small sphere showing earth map, drop on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the hand-sized globe on sturdy stand, then places on blue pad.",
+    "Pick the red block, keep the transfer away from the compact globe with labeled countries, and place it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the compact globe with labeled countries, place blue pad.",
+    "Left arm take red block, keep the pass away from the small sphere showing earth map, right arm puts on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the blue globe with colorful continents, place on blue pad.",
+    "Grab the red block, transfer it while steering clear of the blue globe with colorful continents, place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the compact globe with labeled countries, and place on blue pad."
+  ],
+  "unseen": [
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad."
+  ]
+}
\ No newline at end of file
diff --git a/handover_block_wp1/handover_block_wp1/instructions/episode19.json b/handover_block_wp1/handover_block_wp1/instructions/episode19.json
new file mode 100644
index 0000000000000000000000000000000000000000..408ad5529eec31a9246b210f89c50110cbee72bb
--- /dev/null
+++ b/handover_block_wp1/handover_block_wp1/instructions/episode19.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the red block, hand it over while keeping clear of the Earth map globe, then place on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the round Earth globe, then sets it on blue pad.",
+    "Take the red block from the table, pass it clear of the beige and brown globe, and put it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the spinning brown globe, place on blue pad.",
+    "Lift the red block, do a handover avoiding the round globe with sturdy base, then place it onto the blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the decor piece globe, then places on blue pad.",
+    "Take the red block from the table, hand over away from the round Earth globe, drop on blue pad.",
+    "Lift the red block, hand it across away from the brown globe on black stand, then place it on blue pad.",
+    "Secure the red block, transfer it away from the Earth map globe, and drop it onto the blue pad.",
+    "Left arm lifts red block, handover away from the beige and brown globe, right arm sets it on blue pad.",
+    "Pick the red block, keep the transfer away from the spinning brown globe, and place it on blue pad.",
+    "Grab red block, pass it along a path clear of the decor piece globe, place onto blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the beige and brown globe, set on blue pad.",
+    "Use left arm to pick red block, avoid the round globe with sturdy base during handoff, right arm place blue pad.",
+    "Left arm take red block, keep the pass away from the beige and brown globe, right arm puts on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the Earth map globe, then place on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the Earth map globe, place blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the brown globe on black stand, place on blue pad.",
+    "Left arm grips red block, hands off away from the globe with smooth surface, right arm places on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the round Earth globe, and place on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the decor piece globe, then place on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the globe with smooth surface, then sets it on blue pad.",
+    "Take the red block from the table, pass it clear of the Earth map globe, and put it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the globe with smooth surface, place on blue pad.",
+    "Lift the red block, do a handover avoiding the Earth map globe, then place it onto the blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the round globe with sturdy base, then places on blue pad.",
+    "Take the red block from the table, hand over away from the globe with curved black stand, drop on blue pad.",
+    "Lift the red block, hand it across away from the globe for geographic reference, then place it on blue pad.",
+    "Secure the red block, transfer it away from the beige and brown globe, and drop it onto the blue pad.",
+    "Left arm lifts red block, handover away from the globe with curved black stand, right arm sets it on blue pad.",
+    "Pick the red block, keep the transfer away from the wooden globe with metal base, and place it on blue pad.",
+    "Grab red block, pass it along a path clear of the wooden globe with metal base, place onto blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the beige and brown globe, set on blue pad.",
+    "Use left arm to pick red block, avoid the wooden globe with metal base during handoff, right arm place blue pad.",
+    "Left arm take red block, keep the pass away from the globe for geographic reference, right arm puts on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the smooth beige globe with continents, then place on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the round globe with sturdy base, place blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe for geographic reference, place on blue pad.",
+    "Left arm grips red block, hands off away from the Earth map globe, right arm places on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the smooth beige globe with continents, and place on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the Earth map globe, then place on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the beige and brown globe, then sets it on blue pad.",
+    "Take the red block from the table, pass it clear of the smooth beige globe with continents, and put it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the globe with curved black stand, place on blue pad.",
+    "Lift the red block, do a handover avoiding the globe with curved black stand, then place it onto the blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe with smooth surface, then places on blue pad.",
+    "Take the red block from the table, hand over away from the brown globe on black stand, drop on blue pad.",
+    "Lift the red block, hand it across away from the globe with curved black stand, then place it on blue pad.",
+    "Secure the red block, transfer it away from the Earth map globe, and drop it onto the blue pad.",
+    "Left arm lifts red block, handover away from the round globe with sturdy base, right arm sets it on blue pad.",
+    "Pick the red block, keep the transfer away from the decor piece globe, and place it on blue pad.",
+    "Grab red block, pass it along a path clear of the spinning brown globe, place onto blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the Earth map globe, set on blue pad.",
+    "Use left arm to pick red block, avoid the decor piece globe during handoff, right arm place blue pad.",
+    "Left arm take red block, keep the pass away from the wooden globe with metal base, right arm puts on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe with smooth surface, then place on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the wooden globe with metal base, place blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe with smooth surface, place on blue pad.",
+    "Left arm grips red block, hands off away from the round globe with sturdy base, right arm places on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the wooden globe with metal base, and place on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the Earth map globe, then place on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the round globe with sturdy base, then sets it on blue pad.",
+    "Take the red block from the table, pass it clear of the globe with smooth surface, and put it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the brown globe on black stand, place on blue pad.",
+    "Lift the red block, do a handover avoiding the globe for geographic reference, then place it onto the blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the round globe with sturdy base, then places on blue pad.",
+    "Take the red block from the table, hand over away from the decor piece globe, drop on blue pad.",
+    "Lift the red block, hand it across away from the round Earth globe, then place it on blue pad.",
+    "Secure the red block, transfer it away from the beige and brown globe, and drop it onto the blue pad.",
+    "Left arm lifts red block, handover away from the Earth map globe, right arm sets it on blue pad.",
+    "Pick the red block, keep the transfer away from the round Earth globe, and place it on blue pad.",
+    "Grab red block, pass it along a path clear of the globe with curved black stand, place onto blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the brown globe on black stand, set on blue pad.",
+    "Use left arm to pick red block, avoid the decor piece globe during handoff, right arm place blue pad.",
+    "Left arm take red block, keep the pass away from the globe with smooth surface, right arm puts on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe with smooth surface, then place on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the round globe with sturdy base, place blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the round Earth globe, place on blue pad.",
+    "Left arm grips red block, hands off away from the spinning brown globe, right arm places on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the round globe with sturdy base, and place on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the Earth map globe, then place on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the beige and brown globe, then sets it on blue pad.",
+    "Take the red block from the table, pass it clear of the brown globe on black stand, and put it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the wooden globe with metal base, place on blue pad.",
+    "Lift the red block, do a handover avoiding the decor piece globe, then place it onto the blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the round globe with sturdy base, then places on blue pad.",
+    "Take the red block from the table, hand over away from the brown globe on black stand, drop on blue pad.",
+    "Lift the red block, hand it across away from the globe with smooth surface, then place it on blue pad.",
+    "Secure the red block, transfer it away from the brown globe on black stand, and drop it onto the blue pad.",
+    "Left arm lifts red block, handover away from the globe for geographic reference, right arm sets it on blue pad.",
+    "Pick the red block, keep the transfer away from the beige and brown globe, and place it on blue pad.",
+    "Grab red block, pass it along a path clear of the decor piece globe, place onto blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the wooden globe with metal base, set on blue pad.",
+    "Use left arm to pick red block, avoid the globe for geographic reference during handoff, right arm place blue pad.",
+    "Left arm take red block, keep the pass away from the brown globe on black stand, right arm puts on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the brown globe on black stand, then place on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the round globe with sturdy base, place blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe with smooth surface, place on blue pad.",
+    "Left arm grips red block, hands off away from the wooden globe with metal base, right arm places on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the decor piece globe, and place on blue pad."
+  ],
+  "unseen": [
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad."
+  ]
+}
\ No newline at end of file
diff --git a/handover_block_wp1/handover_block_wp1/instructions/episode2.json b/handover_block_wp1/handover_block_wp1/instructions/episode2.json
new file mode 100644
index 0000000000000000000000000000000000000000..b85f3df6f2e4d0262292035d44b6d0f116f1848d
--- /dev/null
+++ b/handover_block_wp1/handover_block_wp1/instructions/episode2.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the red block, transfer it while staying clear of the globe with curved black base, and place on blue pad.",
+    "Pick the red block, keep the transfer away from the blue globe with colorful continents, and place it on blue pad.",
+    "Take the red block from the table, hand over away from the blue globe, drop on blue pad.",
+    "Left arm lifts red block, handover away from the earth-shaped globe with black frame, right arm sets it on blue pad.",
+    "Grab red block, pass it along a path clear of the small sphere showing earth map, place onto blue pad.",
+    "Lift the red block, hand it across away from the earth-shaped globe with black frame, then place it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the blue globe with colorful continents, then places on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the earth-shaped globe with black frame, then place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the earth-shaped globe with black frame, place on blue pad.",
+    "Use left arm to pick red block, avoid the compact globe with labeled countries during handoff, right arm place blue pad.",
+    "Left arm grabs red block, right arm receives it away from the small sphere showing earth map, then sets it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the earth-shaped globe with black frame, set on blue pad.",
+    "Take the red block from the table, pass it clear of the globe with curved black base, and put it on blue pad.",
+    "Lift the red block, do a handover avoiding the earth-shaped globe with black frame, then place it onto the blue pad.",
+    "Grab the red block, transfer it while steering clear of the globe sitting on curved black base, place on blue pad.",
+    "Secure the red block, transfer it away from the globe with curved black base, and drop it onto the blue pad.",
+    "Left arm grips red block, hands off away from the earth-shaped globe with black frame, right arm places on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the blue globe with colorful continents, then place on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the blue sphere with countries marked, place blue pad.",
+    "Left arm take red block, keep the pass away from the blue globe, right arm puts on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the blue globe with colorful continents, and place on blue pad.",
+    "Pick the red block, keep the transfer away from the blue globe with colorful continents, and place it on blue pad.",
+    "Take the red block from the table, hand over away from the blue sphere with countries marked, drop on blue pad.",
+    "Left arm lifts red block, handover away from the colorful globe on black stand, right arm sets it on blue pad.",
+    "Grab red block, pass it along a path clear of the compact globe with labeled countries, place onto blue pad.",
+    "Lift the red block, hand it across away from the blue sphere with countries marked, then place it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the blue globe with colorful continents, then places on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the blue sphere with countries marked, then place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the blue sphere with countries marked, place on blue pad.",
+    "Use left arm to pick red block, avoid the globe sitting on curved black base during handoff, right arm place blue pad.",
+    "Left arm grabs red block, right arm receives it away from the colorful globe on black stand, then sets it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the compact globe with labeled countries, set on blue pad.",
+    "Take the red block from the table, pass it clear of the earth-shaped globe with black frame, and put it on blue pad.",
+    "Lift the red block, do a handover avoiding the compact globe with labeled countries, then place it onto the blue pad.",
+    "Grab the red block, transfer it while steering clear of the globe sitting on curved black base, place on blue pad.",
+    "Secure the red block, transfer it away from the earth-shaped globe with black frame, and drop it onto the blue pad.",
+    "Left arm grips red block, hands off away from the globe with curved black base, right arm places on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the hand-sized globe on sturdy stand, then place on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the blue sphere with countries marked, place blue pad.",
+    "Left arm take red block, keep the pass away from the globe sitting on curved black base, right arm puts on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the compact globe with labeled countries, and place on blue pad.",
+    "Pick the red block, keep the transfer away from the small world globe, and place it on blue pad.",
+    "Take the red block from the table, hand over away from the blue globe with colorful continents, drop on blue pad.",
+    "Left arm lifts red block, handover away from the hand-sized globe on sturdy stand, right arm sets it on blue pad.",
+    "Grab red block, pass it along a path clear of the blue globe, place onto blue pad.",
+    "Lift the red block, hand it across away from the hand-sized globe on sturdy stand, then place it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the blue sphere with countries marked, then places on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the compact globe with labeled countries, then place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the compact globe with labeled countries, place on blue pad.",
+    "Use left arm to pick red block, avoid the hand-sized globe on sturdy stand during handoff, right arm place blue pad.",
+    "Left arm grabs red block, right arm receives it away from the blue globe with colorful continents, then sets it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the colorful globe on black stand, set on blue pad.",
+    "Take the red block from the table, pass it clear of the blue globe with colorful continents, and put it on blue pad.",
+    "Lift the red block, do a handover avoiding the blue globe, then place it onto the blue pad.",
+    "Grab the red block, transfer it while steering clear of the blue sphere with countries marked, place on blue pad.",
+    "Secure the red block, transfer it away from the earth-shaped globe with black frame, and drop it onto the blue pad.",
+    "Left arm grips red block, hands off away from the colorful globe on black stand, right arm places on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the small sphere showing earth map, then place on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the compact globe with labeled countries, place blue pad.",
+    "Left arm take red block, keep the pass away from the globe featuring bright country colors, right arm puts on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the blue sphere with countries marked, and place on blue pad.",
+    "Pick the red block, keep the transfer away from the blue globe with colorful continents, and place it on blue pad.",
+    "Take the red block from the table, hand over away from the blue globe with colorful continents, drop on blue pad.",
+    "Left arm lifts red block, handover away from the earth-shaped globe with black frame, right arm sets it on blue pad.",
+    "Grab red block, pass it along a path clear of the blue globe with colorful continents, place onto blue pad.",
+    "Lift the red block, hand it across away from the small sphere showing earth map, then place it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe with curved black base, then places on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the blue globe, then place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the compact globe with labeled countries, place on blue pad.",
+    "Use left arm to pick red block, avoid the earth-shaped globe with black frame during handoff, right arm place blue pad.",
+    "Left arm grabs red block, right arm receives it away from the globe featuring bright country colors, then sets it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe featuring bright country colors, set on blue pad.",
+    "Take the red block from the table, pass it clear of the compact globe with labeled countries, and put it on blue pad.",
+    "Lift the red block, do a handover avoiding the globe featuring bright country colors, then place it onto the blue pad.",
+    "Grab the red block, transfer it while steering clear of the globe sitting on curved black base, place on blue pad.",
+    "Secure the red block, transfer it away from the small world globe, and drop it onto the blue pad.",
+    "Left arm grips red block, hands off away from the small sphere showing earth map, right arm places on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe featuring bright country colors, then place on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the compact globe with labeled countries, place blue pad.",
+    "Left arm take red block, keep the pass away from the small sphere showing earth map, right arm puts on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the hand-sized globe on sturdy stand, and place on blue pad.",
+    "Pick the red block, keep the transfer away from the blue sphere with countries marked, and place it on blue pad.",
+    "Take the red block from the table, hand over away from the hand-sized globe on sturdy stand, drop on blue pad.",
+    "Left arm lifts red block, handover away from the blue sphere with countries marked, right arm sets it on blue pad.",
+    "Grab red block, pass it along a path clear of the compact globe with labeled countries, place onto blue pad.",
+    "Lift the red block, hand it across away from the blue globe with colorful continents, then place it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the colorful globe on black stand, then places on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the globe with curved black base, then place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the colorful globe on black stand, place on blue pad.",
+    "Use left arm to pick red block, avoid the earth-shaped globe with black frame during handoff, right arm place blue pad.",
+    "Left arm grabs red block, right arm receives it away from the blue globe, then sets it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the blue globe with colorful continents, set on blue pad.",
+    "Take the red block from the table, pass it clear of the blue sphere with countries marked, and put it on blue pad.",
+    "Lift the red block, do a handover avoiding the globe featuring bright country colors, then place it onto the blue pad.",
+    "Grab the red block, transfer it while steering clear of the earth-shaped globe with black frame, place on blue pad.",
+    "Secure the red block, transfer it away from the globe featuring bright country colors, and drop it onto the blue pad.",
+    "Left arm grips red block, hands off away from the blue globe, right arm places on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe with curved black base, then place on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the blue globe with colorful continents, place blue pad.",
+    "Left arm take red block, keep the pass away from the small sphere showing earth map, right arm puts on blue pad."
+  ],
+  "unseen": [
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad."
+  ]
+}
\ No newline at end of file
diff --git a/handover_block_wp1/handover_block_wp1/instructions/episode20.json b/handover_block_wp1/handover_block_wp1/instructions/episode20.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b229752a4e11efc257c855ec3a0040623f44835
--- /dev/null
+++ b/handover_block_wp1/handover_block_wp1/instructions/episode20.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Left arm grips red block, hands off away from the blue globe with colorful continents, right arm places on blue pad.",
+    "Left arm lifts red block, handover away from the hand-sized globe on sturdy stand, right arm sets it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the compact globe with labeled countries, then place on blue pad.",
+    "Take the red block from the table, hand over away from the globe sitting on curved black base, drop on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the compact globe with labeled countries, then places on blue pad.",
+    "Take the red block from the table, pass it clear of the small sphere showing earth map, and put it on blue pad.",
+    "Left arm take red block, keep the pass away from the colorful globe on black stand, right arm puts on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the small world globe, set on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe featuring bright country colors, then place on blue pad.",
+    "Pick the red block, keep the transfer away from the earth-shaped globe with black frame, and place it on blue pad.",
+    "Lift the red block, do a handover avoiding the globe with curved black base, then place it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm away from the blue globe, place blue pad.",
+    "Pick up the red block, transfer it while staying clear of the blue globe, and place on blue pad.",
+    "Lift the red block, hand it across away from the blue sphere with countries marked, then place it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the small sphere showing earth map, then sets it on blue pad.",
+    "Grab red block, pass it along a path clear of the globe sitting on curved black base, place onto blue pad.",
+    "Secure the red block, transfer it away from the small world globe, and drop it onto the blue pad.",
+    "Use left arm to pick red block, avoid the blue globe during handoff, right arm place blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe featuring bright country colors, place on blue pad.",
+    "Grab the red block, transfer it while steering clear of the globe sitting on curved black base, place on blue pad.",
+    "Left arm grips red block, hands off away from the globe featuring bright country colors, right arm places on blue pad.",
+    "Left arm lifts red block, handover away from the small world globe, right arm sets it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the blue sphere with countries marked, then place on blue pad.",
+    "Take the red block from the table, hand over away from the small world globe, drop on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe with curved black base, then places on blue pad.",
+    "Take the red block from the table, pass it clear of the colorful globe on black stand, and put it on blue pad.",
+    "Left arm take red block, keep the pass away from the blue globe, right arm puts on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the earth-shaped globe with black frame, set on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the earth-shaped globe with black frame, then place on blue pad.",
+    "Pick the red block, keep the transfer away from the small sphere showing earth map, and place it on blue pad.",
+    "Lift the red block, do a handover avoiding the compact globe with labeled countries, then place it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm away from the small sphere showing earth map, place blue pad.",
+    "Pick up the red block, transfer it while staying clear of the earth-shaped globe with black frame, and place on blue pad.",
+    "Lift the red block, hand it across away from the hand-sized globe on sturdy stand, then place it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the globe sitting on curved black base, then sets it on blue pad.",
+    "Grab red block, pass it along a path clear of the earth-shaped globe with black frame, place onto blue pad.",
+    "Secure the red block, transfer it away from the globe with curved black base, and drop it onto the blue pad.",
+    "Use left arm to pick red block, avoid the blue globe during handoff, right arm place blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the hand-sized globe on sturdy stand, place on blue pad.",
+    "Grab the red block, transfer it while steering clear of the earth-shaped globe with black frame, place on blue pad.",
+    "Left arm grips red block, hands off away from the compact globe with labeled countries, right arm places on blue pad.",
+    "Left arm lifts red block, handover away from the blue sphere with countries marked, right arm sets it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the globe featuring bright country colors, then place on blue pad.",
+    "Take the red block from the table, hand over away from the blue globe, drop on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the small world globe, then places on blue pad.",
+    "Take the red block from the table, pass it clear of the globe featuring bright country colors, and put it on blue pad.",
+    "Left arm take red block, keep the pass away from the colorful globe on black stand, right arm puts on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the small sphere showing earth map, set on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the blue globe, then place on blue pad.",
+    "Pick the red block, keep the transfer away from the blue sphere with countries marked, and place it on blue pad.",
+    "Lift the red block, do a handover avoiding the colorful globe on black stand, then place it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe with curved black base, place blue pad.",
+    "Pick up the red block, transfer it while staying clear of the blue sphere with countries marked, and place on blue pad.",
+    "Lift the red block, hand it across away from the hand-sized globe on sturdy stand, then place it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the small sphere showing earth map, then sets it on blue pad.",
+    "Grab red block, pass it along a path clear of the blue globe, place onto blue pad.",
+    "Secure the red block, transfer it away from the globe with curved black base, and drop it onto the blue pad.",
+    "Use left arm to pick red block, avoid the globe sitting on curved black base during handoff, right arm place blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the blue globe, place on blue pad.",
+    "Grab the red block, transfer it while steering clear of the small world globe, place on blue pad.",
+    "Left arm grips red block, hands off away from the compact globe with labeled countries, right arm places on blue pad.",
+    "Left arm lifts red block, handover away from the globe sitting on curved black base, right arm sets it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the small world globe, then place on blue pad.",
+    "Take the red block from the table, hand over away from the globe featuring bright country colors, drop on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the earth-shaped globe with black frame, then places on blue pad.",
+    "Take the red block from the table, pass it clear of the small sphere showing earth map, and put it on blue pad.",
+    "Left arm take red block, keep the pass away from the blue globe, right arm puts on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the hand-sized globe on sturdy stand, set on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the earth-shaped globe with black frame, then place on blue pad.",
+    "Pick the red block, keep the transfer away from the compact globe with labeled countries, and place it on blue pad.",
+    "Lift the red block, do a handover avoiding the blue sphere with countries marked, then place it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm away from the blue globe with colorful continents, place blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe sitting on curved black base, and place on blue pad.",
+    "Lift the red block, hand it across away from the small world globe, then place it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the globe with curved black base, then sets it on blue pad.",
+    "Grab red block, pass it along a path clear of the colorful globe on black stand, place onto blue pad.",
+    "Secure the red block, transfer it away from the globe with curved black base, and drop it onto the blue pad.",
+    "Use left arm to pick red block, avoid the colorful globe on black stand during handoff, right arm place blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the blue sphere with countries marked, place on blue pad.",
+    "Grab the red block, transfer it while steering clear of the hand-sized globe on sturdy stand, place on blue pad.",
+    "Left arm grips red block, hands off away from the small world globe, right arm places on blue pad.",
+    "Left arm lifts red block, handover away from the globe with curved black base, right arm sets it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the globe with curved black base, then place on blue pad.",
+    "Take the red block from the table, hand over away from the globe sitting on curved black base, drop on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the earth-shaped globe with black frame, then places on blue pad.",
+    "Take the red block from the table, pass it clear of the small world globe, and put it on blue pad.",
+    "Left arm take red block, keep the pass away from the compact globe with labeled countries, right arm puts on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the blue globe with colorful continents, set on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the small world globe, then place on blue pad.",
+    "Pick the red block, keep the transfer away from the globe featuring bright country colors, and place it on blue pad.",
+    "Lift the red block, do a handover avoiding the blue globe with colorful continents, then place it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe sitting on curved black base, place blue pad.",
+    "Pick up the red block, transfer it while staying clear of the small sphere showing earth map, and place on blue pad.",
+    "Lift the red block, hand it across away from the hand-sized globe on sturdy stand, then place it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the colorful globe on black stand, then sets it on blue pad.",
+    "Grab red block, pass it along a path clear of the earth-shaped globe with black frame, place onto blue pad.",
+    "Secure the red block, transfer it away from the small world globe, and drop it onto the blue pad.",
+    "Use left arm to pick red block, avoid the hand-sized globe on sturdy stand during handoff, right arm place blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the colorful globe on black stand, place on blue pad.",
+    "Grab the red block, transfer it while steering clear of the blue sphere with countries marked, place on blue pad."
+  ],
+  "unseen": [
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder."
+  ]
+}
\ No newline at end of file
diff --git a/handover_block_wp1/handover_block_wp1/instructions/episode21.json b/handover_block_wp1/handover_block_wp1/instructions/episode21.json
new file mode 100644
index 0000000000000000000000000000000000000000..995e83acd718d5c9f7c83c415b279a3ff152a3ba
--- /dev/null
+++ b/handover_block_wp1/handover_block_wp1/instructions/episode21.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Left arm takes the red block, hands it to right arm avoiding the Earth map globe, then places on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the smooth beige globe with continents, then place on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the smooth beige globe with continents, then sets it on blue pad.",
+    "Lift the red block, do a handover avoiding the smooth beige globe with continents, then place it onto the blue pad.",
+    "Pick the red block, hand it over while keeping clear of the globe with smooth surface, then place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the decor piece globe, set on blue pad.",
+    "Pick the red block, keep the transfer away from the round Earth globe, and place it on blue pad.",
+    "Left arm lifts red block, handover away from the globe for geographic reference, right arm sets it on blue pad.",
+    "Left arm take red block, keep the pass away from the round globe with sturdy base, right arm puts on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the beige and brown globe, place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the smooth beige globe with continents, and place on blue pad.",
+    "Grab the red block, transfer it while steering clear of the round Earth globe, place on blue pad.",
+    "Lift the red block, hand it across away from the round Earth globe, then place it on blue pad.",
+    "Use left arm to pick red block, avoid the globe with smooth surface during handoff, right arm place blue pad.",
+    "Left arm grips red block, hands off away from the globe with smooth surface, right arm places on blue pad.",
+    "Secure the red block, transfer it away from the decor piece globe, and drop it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm away from the wooden globe with metal base, place blue pad.",
+    "Grab red block, pass it along a path clear of the spinning brown globe, place onto blue pad.",
+    "Take the red block from the table, hand over away from the globe with smooth surface, drop on blue pad.",
+    "Take the red block from the table, pass it clear of the globe with smooth surface, and put it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe for geographic reference, then places on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe with smooth surface, then place on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the beige and brown globe, then sets it on blue pad.",
+    "Lift the red block, do a handover avoiding the round globe with sturdy base, then place it onto the blue pad.",
+    "Pick the red block, hand it over while keeping clear of the round Earth globe, then place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe with smooth surface, set on blue pad.",
+    "Pick the red block, keep the transfer away from the brown globe on black stand, and place it on blue pad.",
+    "Left arm lifts red block, handover away from the globe with smooth surface, right arm sets it on blue pad.",
+    "Left arm take red block, keep the pass away from the round Earth globe, right arm puts on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the decor piece globe, place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe with curved black stand, and place on blue pad.",
+    "Grab the red block, transfer it while steering clear of the smooth beige globe with continents, place on blue pad.",
+    "Lift the red block, hand it across away from the globe with smooth surface, then place it on blue pad.",
+    "Use left arm to pick red block, avoid the Earth map globe during handoff, right arm place blue pad.",
+    "Left arm grips red block, hands off away from the decor piece globe, right arm places on blue pad.",
+    "Secure the red block, transfer it away from the globe for geographic reference, and drop it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm away from the decor piece globe, place blue pad.",
+    "Grab red block, pass it along a path clear of the globe with smooth surface, place onto blue pad.",
+    "Take the red block from the table, hand over away from the brown globe on black stand, drop on blue pad.",
+    "Take the red block from the table, pass it clear of the smooth beige globe with continents, and put it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the round globe with sturdy base, then places on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the brown globe on black stand, then place on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the decor piece globe, then sets it on blue pad.",
+    "Lift the red block, do a handover avoiding the Earth map globe, then place it onto the blue pad.",
+    "Pick the red block, hand it over while keeping clear of the globe with curved black stand, then place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe with curved black stand, set on blue pad.",
+    "Pick the red block, keep the transfer away from the decor piece globe, and place it on blue pad.",
+    "Left arm lifts red block, handover away from the globe with smooth surface, right arm sets it on blue pad.",
+    "Left arm take red block, keep the pass away from the globe with smooth surface, right arm puts on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the round Earth globe, place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the brown globe on black stand, and place on blue pad.",
+    "Grab the red block, transfer it while steering clear of the globe with smooth surface, place on blue pad.",
+    "Lift the red block, hand it across away from the brown globe on black stand, then place it on blue pad.",
+    "Use left arm to pick red block, avoid the round globe with sturdy base during handoff, right arm place blue pad.",
+    "Left arm grips red block, hands off away from the round globe with sturdy base, right arm places on blue pad.",
+    "Secure the red block, transfer it away from the globe for geographic reference, and drop it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm away from the smooth beige globe with continents, place blue pad.",
+    "Grab red block, pass it along a path clear of the round Earth globe, place onto blue pad.",
+    "Take the red block from the table, hand over away from the globe with smooth surface, drop on blue pad.",
+    "Take the red block from the table, pass it clear of the decor piece globe, and put it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the round globe with sturdy base, then places on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the round Earth globe, then place on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the brown globe on black stand, then sets it on blue pad.",
+    "Lift the red block, do a handover avoiding the smooth beige globe with continents, then place it onto the blue pad.",
+    "Pick the red block, hand it over while keeping clear of the brown globe on black stand, then place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the Earth map globe, set on blue pad.",
+    "Pick the red block, keep the transfer away from the smooth beige globe with continents, and place it on blue pad.",
+    "Left arm lifts red block, handover away from the wooden globe with metal base, right arm sets it on blue pad.",
+    "Left arm take red block, keep the pass away from the globe for geographic reference, right arm puts on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe with curved black stand, place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the decor piece globe, and place on blue pad.",
+    "Grab the red block, transfer it while steering clear of the beige and brown globe, place on blue pad.",
+    "Lift the red block, hand it across away from the globe with smooth surface, then place it on blue pad.",
+    "Use left arm to pick red block, avoid the globe for geographic reference during handoff, right arm place blue pad.",
+    "Left arm grips red block, hands off away from the spinning brown globe, right arm places on blue pad.",
+    "Secure the red block, transfer it away from the globe with curved black stand, and drop it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm away from the round Earth globe, place blue pad.",
+    "Grab red block, pass it along a path clear of the beige and brown globe, place onto blue pad.",
+    "Take the red block from the table, hand over away from the wooden globe with metal base, drop on blue pad.",
+    "Take the red block from the table, pass it clear of the round globe with sturdy base, and put it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the brown globe on black stand, then places on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the round globe with sturdy base, then place on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the spinning brown globe, then sets it on blue pad.",
+    "Lift the red block, do a handover avoiding the globe with smooth surface, then place it onto the blue pad.",
+    "Pick the red block, hand it over while keeping clear of the globe with curved black stand, then place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe for geographic reference, set on blue pad.",
+    "Pick the red block, keep the transfer away from the brown globe on black stand, and place it on blue pad.",
+    "Left arm lifts red block, handover away from the globe for geographic reference, right arm sets it on blue pad.",
+    "Left arm take red block, keep the pass away from the Earth map globe, right arm puts on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the brown globe on black stand, place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the round Earth globe, and place on blue pad.",
+    "Grab the red block, transfer it while steering clear of the decor piece globe, place on blue pad.",
+    "Lift the red block, hand it across away from the globe with smooth surface, then place it on blue pad.",
+    "Use left arm to pick red block, avoid the globe with smooth surface during handoff, right arm place blue pad.",
+    "Left arm grips red block, hands off away from the Earth map globe, right arm places on blue pad.",
+    "Secure the red block, transfer it away from the wooden globe with metal base, and drop it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm away from the spinning brown globe, place blue pad.",
+    "Grab red block, pass it along a path clear of the spinning brown globe, place onto blue pad.",
+    "Take the red block from the table, hand over away from the Earth map globe, drop on blue pad.",
+    "Take the red block from the table, pass it clear of the beige and brown globe, and put it on blue pad."
+  ],
+  "unseen": [
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad."
+  ]
+}
\ No newline at end of file
diff --git a/handover_block_wp1/handover_block_wp1/instructions/episode22.json b/handover_block_wp1/handover_block_wp1/instructions/episode22.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d38a28e57b6749d01dfbadbf8f74d961a74eca9
--- /dev/null
+++ b/handover_block_wp1/handover_block_wp1/instructions/episode22.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Left arm lifts red block, handover away from the colorful globe on black stand, right arm sets it on blue pad.",
+    "Grab red block, pass it along a path clear of the compact globe with labeled countries, place onto blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the blue globe, set on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the colorful globe on black stand, then sets it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the blue sphere with countries marked, then place on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the blue sphere with countries marked, then place on blue pad.",
+    "Left arm grips red block, hands off away from the globe featuring bright country colors, right arm places on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe featuring bright country colors, place on blue pad.",
+    "Lift the red block, hand it across away from the colorful globe on black stand, then place it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the small sphere showing earth map, place on blue pad.",
+    "Left arm take red block, keep the pass away from the compact globe with labeled countries, right arm puts on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the compact globe with labeled countries, place blue pad.",
+    "Secure the red block, transfer it away from the hand-sized globe on sturdy stand, and drop it onto the blue pad.",
+    "Take the red block from the table, pass it clear of the globe featuring bright country colors, and put it on blue pad.",
+    "Take the red block from the table, hand over away from the hand-sized globe on sturdy stand, drop on blue pad.",
+    "Lift the red block, do a handover avoiding the globe sitting on curved black base, then place it onto the blue pad.",
+    "Use left arm to pick red block, avoid the small world globe during handoff, right arm place blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the earth-shaped globe with black frame, then places on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the compact globe with labeled countries, and place on blue pad.",
+    "Pick the red block, keep the transfer away from the earth-shaped globe with black frame, and place it on blue pad.",
+    "Left arm lifts red block, handover away from the small sphere showing earth map, right arm sets it on blue pad.",
+    "Grab red block, pass it along a path clear of the globe with curved black base, place onto blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the blue globe with colorful continents, set on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the compact globe with labeled countries, then sets it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the globe featuring bright country colors, then place on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe with curved black base, then place on blue pad.",
+    "Left arm grips red block, hands off away from the blue sphere with countries marked, right arm places on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe with curved black base, place on blue pad.",
+    "Lift the red block, hand it across away from the earth-shaped globe with black frame, then place it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the colorful globe on black stand, place on blue pad.",
+    "Left arm take red block, keep the pass away from the hand-sized globe on sturdy stand, right arm puts on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe featuring bright country colors, place blue pad.",
+    "Secure the red block, transfer it away from the globe featuring bright country colors, and drop it onto the blue pad.",
+    "Take the red block from the table, pass it clear of the small sphere showing earth map, and put it on blue pad.",
+    "Take the red block from the table, hand over away from the colorful globe on black stand, drop on blue pad.",
+    "Lift the red block, do a handover avoiding the colorful globe on black stand, then place it onto the blue pad.",
+    "Use left arm to pick red block, avoid the compact globe with labeled countries during handoff, right arm place blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the small sphere showing earth map, then places on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the blue sphere with countries marked, and place on blue pad.",
+    "Pick the red block, keep the transfer away from the globe sitting on curved black base, and place it on blue pad.",
+    "Left arm lifts red block, handover away from the blue sphere with countries marked, right arm sets it on blue pad.",
+    "Grab red block, pass it along a path clear of the colorful globe on black stand, place onto blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the hand-sized globe on sturdy stand, set on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the blue globe with colorful continents, then sets it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the compact globe with labeled countries, then place on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the blue sphere with countries marked, then place on blue pad.",
+    "Left arm grips red block, hands off away from the blue sphere with countries marked, right arm places on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the blue globe with colorful continents, place on blue pad.",
+    "Lift the red block, hand it across away from the blue globe, then place it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the hand-sized globe on sturdy stand, place on blue pad.",
+    "Left arm take red block, keep the pass away from the small sphere showing earth map, right arm puts on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the earth-shaped globe with black frame, place blue pad.",
+    "Secure the red block, transfer it away from the blue globe, and drop it onto the blue pad.",
+    "Take the red block from the table, pass it clear of the globe featuring bright country colors, and put it on blue pad.",
+    "Take the red block from the table, hand over away from the blue globe with colorful continents, drop on blue pad.",
+    "Lift the red block, do a handover avoiding the small sphere showing earth map, then place it onto the blue pad.",
+    "Use left arm to pick red block, avoid the small sphere showing earth map during handoff, right arm place blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the hand-sized globe on sturdy stand, then places on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the hand-sized globe on sturdy stand, and place on blue pad.",
+    "Pick the red block, keep the transfer away from the globe sitting on curved black base, and place it on blue pad.",
+    "Left arm lifts red block, handover away from the compact globe with labeled countries, right arm sets it on blue pad.",
+    "Grab red block, pass it along a path clear of the compact globe with labeled countries, place onto blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the small sphere showing earth map, set on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the blue sphere with countries marked, then sets it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the blue globe, then place on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the colorful globe on black stand, then place on blue pad.",
+    "Left arm grips red block, hands off away from the blue sphere with countries marked, right arm places on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe with curved black base, place on blue pad.",
+    "Lift the red block, hand it across away from the globe with curved black base, then place it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the blue sphere with countries marked, place on blue pad.",
+    "Left arm take red block, keep the pass away from the globe sitting on curved black base, right arm puts on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe with curved black base, place blue pad.",
+    "Secure the red block, transfer it away from the colorful globe on black stand, and drop it onto the blue pad.",
+    "Take the red block from the table, pass it clear of the globe sitting on curved black base, and put it on blue pad.",
+    "Take the red block from the table, hand over away from the blue globe with colorful continents, drop on blue pad.",
+    "Lift the red block, do a handover avoiding the earth-shaped globe with black frame, then place it onto the blue pad.",
+    "Use left arm to pick red block, avoid the small world globe during handoff, right arm place blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the blue globe, then places on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the small world globe, and place on blue pad.",
+    "Pick the red block, keep the transfer away from the small sphere showing earth map, and place it on blue pad.",
+    "Left arm lifts red block, handover away from the small sphere showing earth map, right arm sets it on blue pad.",
+    "Grab red block, pass it along a path clear of the globe with curved black base, place onto blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the small world globe, set on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the blue globe, then sets it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the compact globe with labeled countries, then place on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the hand-sized globe on sturdy stand, then place on blue pad.",
+    "Left arm grips red block, hands off away from the colorful globe on black stand, right arm places on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the blue sphere with countries marked, place on blue pad.",
+    "Lift the red block, hand it across away from the globe with curved black base, then place it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the earth-shaped globe with black frame, place on blue pad.",
+    "Left arm take red block, keep the pass away from the compact globe with labeled countries, right arm puts on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the colorful globe on black stand, place blue pad.",
+    "Secure the red block, transfer it away from the hand-sized globe on sturdy stand, and drop it onto the blue pad.",
+    "Take the red block from the table, pass it clear of the small sphere showing earth map, and put it on blue pad.",
+    "Take the red block from the table, hand over away from the earth-shaped globe with black frame, drop on blue pad.",
+    "Lift the red block, do a handover avoiding the blue globe with colorful continents, then place it onto the blue pad.",
+    "Use left arm to pick red block, avoid the colorful globe on black stand during handoff, right arm place blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the small world globe, then places on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the blue globe with colorful continents, and place on blue pad.",
+    "Pick the red block, keep the transfer away from the globe sitting on curved black base, and place it on blue pad."
+  ],
+  "unseen": [
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad."
+  ]
+}
\ No newline at end of file
diff --git a/handover_block_wp1/handover_block_wp1/instructions/episode23.json b/handover_block_wp1/handover_block_wp1/instructions/episode23.json
new file mode 100644
index 0000000000000000000000000000000000000000..106f86b014f128986ccd8f8c529c32cfcd2e62fc
--- /dev/null
+++ b/handover_block_wp1/handover_block_wp1/instructions/episode23.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Left arm take red block, keep the pass away from the blue globe, right arm puts on blue pad.",
+    "Lift the red block, hand it across away from the colorful globe on black stand, then place it on blue pad.",
+    "Secure the red block, transfer it away from the colorful globe on black stand, and drop it onto the blue pad.",
+    "Take the red block from the table, hand over away from the globe sitting on curved black base, drop on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe with curved black base, set on blue pad.",
+    "Pick the red block, keep the transfer away from the blue globe with colorful continents, and place it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the small sphere showing earth map, then place on blue pad.",
+    "Left arm lifts red block, handover away from the small sphere showing earth map, right arm sets it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the compact globe with labeled countries, then sets it on blue pad.",
+    "Take the red block from the table, pass it clear of the compact globe with labeled countries, and put it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the earth-shaped globe with black frame, place blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe sitting on curved black base, then places on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe sitting on curved black base, place on blue pad.",
+    "Grab red block, pass it along a path clear of the hand-sized globe on sturdy stand, place onto blue pad.",
+    "Lift the red block, do a handover avoiding the blue globe with colorful continents, then place it onto the blue pad.",
+    "Use left arm to pick red block, avoid the compact globe with labeled countries during handoff, right arm place blue pad.",
+    "Left arm grips red block, hands off away from the blue sphere with countries marked, right arm places on blue pad.",
+    "Grab the red block, transfer it while steering clear of the blue sphere with countries marked, place on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe with curved black base, then place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the small world globe, and place on blue pad.",
+    "Left arm take red block, keep the pass away from the earth-shaped globe with black frame, right arm puts on blue pad.",
+    "Lift the red block, hand it across away from the blue globe, then place it on blue pad.",
+    "Secure the red block, transfer it away from the small sphere showing earth map, and drop it onto the blue pad.",
+    "Take the red block from the table, hand over away from the small sphere showing earth map, drop on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the colorful globe on black stand, set on blue pad.",
+    "Pick the red block, keep the transfer away from the globe sitting on curved black base, and place it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the globe featuring bright country colors, then place on blue pad.",
+    "Left arm lifts red block, handover away from the blue sphere with countries marked, right arm sets it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the colorful globe on black stand, then sets it on blue pad.",
+    "Take the red block from the table, pass it clear of the small world globe, and put it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe with curved black base, place blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe sitting on curved black base, then places on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the blue sphere with countries marked, place on blue pad.",
+    "Grab red block, pass it along a path clear of the small sphere showing earth map, place onto blue pad.",
+    "Lift the red block, do a handover avoiding the blue sphere with countries marked, then place it onto the blue pad.",
+    "Use left arm to pick red block, avoid the blue globe during handoff, right arm place blue pad.",
+    "Left arm grips red block, hands off away from the blue sphere with countries marked, right arm places on blue pad.",
+    "Grab the red block, transfer it while steering clear of the blue globe with colorful continents, place on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the blue globe, then place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe with curved black base, and place on blue pad.",
+    "Left arm take red block, keep the pass away from the hand-sized globe on sturdy stand, right arm puts on blue pad.",
+    "Lift the red block, hand it across away from the blue sphere with countries marked, then place it on blue pad.",
+    "Secure the red block, transfer it away from the globe sitting on curved black base, and drop it onto the blue pad.",
+    "Take the red block from the table, hand over away from the blue globe with colorful continents, drop on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe featuring bright country colors, set on blue pad.",
+    "Pick the red block, keep the transfer away from the globe featuring bright country colors, and place it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the colorful globe on black stand, then place on blue pad.",
+    "Left arm lifts red block, handover away from the globe featuring bright country colors, right arm sets it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the blue globe with colorful continents, then sets it on blue pad.",
+    "Take the red block from the table, pass it clear of the compact globe with labeled countries, and put it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the blue globe with colorful continents, place blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the compact globe with labeled countries, then places on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe featuring bright country colors, place on blue pad.",
+    "Grab red block, pass it along a path clear of the globe sitting on curved black base, place onto blue pad.",
+    "Lift the red block, do a handover avoiding the small world globe, then place it onto the blue pad.",
+    "Use left arm to pick red block, avoid the colorful globe on black stand during handoff, right arm place blue pad.",
+    "Left arm grips red block, hands off away from the hand-sized globe on sturdy stand, right arm places on blue pad.",
+    "Grab the red block, transfer it while steering clear of the globe sitting on curved black base, place on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the blue sphere with countries marked, then place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the blue sphere with countries marked, and place on blue pad.",
+    "Left arm take red block, keep the pass away from the colorful globe on black stand, right arm puts on blue pad.",
+    "Lift the red block, hand it across away from the blue globe, then place it on blue pad.",
+    "Secure the red block, transfer it away from the colorful globe on black stand, and drop it onto the blue pad.",
+    "Take the red block from the table, hand over away from the earth-shaped globe with black frame, drop on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the small sphere showing earth map, set on blue pad.",
+    "Pick the red block, keep the transfer away from the blue globe, and place it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the colorful globe on black stand, then place on blue pad.",
+    "Left arm lifts red block, handover away from the compact globe with labeled countries, right arm sets it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the globe with curved black base, then sets it on blue pad.",
+    "Take the red block from the table, pass it clear of the earth-shaped globe with black frame, and put it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the blue sphere with countries marked, place blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe featuring bright country colors, then places on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the blue globe with colorful continents, place on blue pad.",
+    "Grab red block, pass it along a path clear of the blue sphere with countries marked, place onto blue pad.",
+    "Lift the red block, do a handover avoiding the small world globe, then place it onto the blue pad.",
+    "Use left arm to pick red block, avoid the globe sitting on curved black base during handoff, right arm place blue pad.",
+    "Left arm grips red block, hands off away from the blue globe with colorful continents, right arm places on blue pad.",
+    "Grab the red block, transfer it while steering clear of the hand-sized globe on sturdy stand, place on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe featuring bright country colors, then place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the blue sphere with countries marked, and place on blue pad.",
+    "Left arm take red block, keep the pass away from the colorful globe on black stand, right arm puts on blue pad.",
+    "Lift the red block, hand it across away from the globe with curved black base, then place it on blue pad.",
+    "Secure the red block, transfer it away from the colorful globe on black stand, and drop it onto the blue pad.",
+    "Take the red block from the table, hand over away from the earth-shaped globe with black frame, drop on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the small world globe, set on blue pad.",
+    "Pick the red block, keep the transfer away from the colorful globe on black stand, and place it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the blue sphere with countries marked, then place on blue pad.",
+    "Left arm lifts red block, handover away from the globe featuring bright country colors, right arm sets it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the hand-sized globe on sturdy stand, then sets it on blue pad.",
+    "Take the red block from the table, pass it clear of the globe featuring bright country colors, and put it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe with curved black base, place blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the blue globe with colorful continents, then places on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the blue globe with colorful continents, place on blue pad.",
+    "Grab red block, pass it along a path clear of the globe featuring bright country colors, place onto blue pad.",
+    "Lift the red block, do a handover avoiding the small world globe, then place it onto the blue pad.",
+    "Use left arm to pick red block, avoid the globe featuring bright country colors during handoff, right arm place blue pad.",
+    "Left arm grips red block, hands off away from the globe featuring bright country colors, right arm places on blue pad.",
+    "Grab the red block, transfer it while steering clear of the blue globe with colorful continents, place on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the blue globe with colorful continents, then place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the blue sphere with countries marked, and place on blue pad."
+  ],
+  "unseen": [
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings."
+  ]
+}
\ No newline at end of file
diff --git a/handover_block_wp1/handover_block_wp1/instructions/episode24.json b/handover_block_wp1/handover_block_wp1/instructions/episode24.json
new file mode 100644
index 0000000000000000000000000000000000000000..66c0604edf52c8173bcf66598452423079a9734a
--- /dev/null
+++ b/handover_block_wp1/handover_block_wp1/instructions/episode24.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use left arm to pick red block, avoid the globe sitting on curved black base during handoff, right arm place blue pad.",
+    "Left arm take red block, keep the pass away from the small sphere showing earth map, right arm puts on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the colorful globe on black stand, then place on blue pad.",
+    "Lift the red block, do a handover avoiding the globe sitting on curved black base, then place it onto the blue pad.",
+    "Take the red block from the table, hand over away from the colorful globe on black stand, drop on blue pad.",
+    "Take the red block from the table, pass it clear of the globe with curved black base, and put it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the blue sphere with countries marked, place blue pad.",
+    "Grab the red block, transfer it while steering clear of the blue globe, place on blue pad.",
+    "Left arm grips red block, hands off away from the globe sitting on curved black base, right arm places on blue pad.",
+    "Grab red block, pass it along a path clear of the earth-shaped globe with black frame, place onto blue pad.",
+    "Pick up the red block, transfer it while staying clear of the small world globe, and place on blue pad.",
+    "Left arm lifts red block, handover away from the colorful globe on black stand, right arm sets it on blue pad.",
+    "Lift the red block, hand it across away from the blue globe, then place it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the hand-sized globe on sturdy stand, set on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the blue globe with colorful continents, then place on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the hand-sized globe on sturdy stand, then places on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the earth-shaped globe with black frame, place on blue pad.",
+    "Secure the red block, transfer it away from the small sphere showing earth map, and drop it onto the blue pad.",
+    "Left arm grabs red block, right arm receives it away from the colorful globe on black stand, then sets it on blue pad.",
+    "Pick the red block, keep the transfer away from the earth-shaped globe with black frame, and place it on blue pad.",
+    "Use left arm to pick red block, avoid the globe featuring bright country colors during handoff, right arm place blue pad.",
+    "Left arm take red block, keep the pass away from the compact globe with labeled countries, right arm puts on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the small world globe, then place on blue pad.",
+    "Lift the red block, do a handover avoiding the globe featuring bright country colors, then place it onto the blue pad.",
+    "Take the red block from the table, hand over away from the globe with curved black base, drop on blue pad.",
+    "Take the red block from the table, pass it clear of the blue sphere with countries marked, and put it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the blue globe with colorful continents, place blue pad.",
+    "Grab the red block, transfer it while steering clear of the small world globe, place on blue pad.",
+    "Left arm grips red block, hands off away from the globe sitting on curved black base, right arm places on blue pad.",
+    "Grab red block, pass it along a path clear of the small world globe, place onto blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe with curved black base, and place on blue pad.",
+    "Left arm lifts red block, handover away from the earth-shaped globe with black frame, right arm sets it on blue pad.",
+    "Lift the red block, hand it across away from the globe sitting on curved black base, then place it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the blue globe with colorful continents, set on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the compact globe with labeled countries, then place on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the small world globe, then places on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe sitting on curved black base, place on blue pad.",
+    "Secure the red block, transfer it away from the small sphere showing earth map, and drop it onto the blue pad.",
+    "Left arm grabs red block, right arm receives it away from the globe featuring bright country colors, then sets it on blue pad.",
+    "Pick the red block, keep the transfer away from the hand-sized globe on sturdy stand, and place it on blue pad.",
+    "Use left arm to pick red block, avoid the blue sphere with countries marked during handoff, right arm place blue pad.",
+    "Left arm take red block, keep the pass away from the blue sphere with countries marked, right arm puts on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the globe with curved black base, then place on blue pad.",
+    "Lift the red block, do a handover avoiding the earth-shaped globe with black frame, then place it onto the blue pad.",
+    "Take the red block from the table, hand over away from the blue globe with colorful continents, drop on blue pad.",
+    "Take the red block from the table, pass it clear of the globe featuring bright country colors, and put it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the compact globe with labeled countries, place blue pad.",
+    "Grab the red block, transfer it while steering clear of the blue sphere with countries marked, place on blue pad.",
+    "Left arm grips red block, hands off away from the globe featuring bright country colors, right arm places on blue pad.",
+    "Grab red block, pass it along a path clear of the hand-sized globe on sturdy stand, place onto blue pad.",
+    "Pick up the red block, transfer it while staying clear of the hand-sized globe on sturdy stand, and place on blue pad.",
+    "Left arm lifts red block, handover away from the globe with curved black base, right arm sets it on blue pad.",
+    "Lift the red block, hand it across away from the globe sitting on curved black base, then place it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the blue sphere with countries marked, set on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the hand-sized globe on sturdy stand, then place on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe with curved black base, then places on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the blue globe, place on blue pad.",
+    "Secure the red block, transfer it away from the compact globe with labeled countries, and drop it onto the blue pad.",
+    "Left arm grabs red block, right arm receives it away from the blue sphere with countries marked, then sets it on blue pad.",
+    "Pick the red block, keep the transfer away from the globe featuring bright country colors, and place it on blue pad.",
+    "Use left arm to pick red block, avoid the globe featuring bright country colors during handoff, right arm place blue pad.",
+    "Left arm take red block, keep the pass away from the colorful globe on black stand, right arm puts on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the hand-sized globe on sturdy stand, then place on blue pad.",
+    "Lift the red block, do a handover avoiding the small world globe, then place it onto the blue pad.",
+    "Take the red block from the table, hand over away from the blue sphere with countries marked, drop on blue pad.",
+    "Take the red block from the table, pass it clear of the colorful globe on black stand, and put it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe sitting on curved black base, place blue pad.",
+    "Grab the red block, transfer it while steering clear of the blue sphere with countries marked, place on blue pad.",
+    "Left arm grips red block, hands off away from the small world globe, right arm places on blue pad.",
+    "Grab red block, pass it along a path clear of the globe featuring bright country colors, place onto blue pad.",
+    "Pick up the red block, transfer it while staying clear of the blue sphere with countries marked, and place on blue pad.",
+    "Left arm lifts red block, handover away from the blue globe, right arm sets it on blue pad.",
+    "Lift the red block, hand it across away from the blue globe with colorful continents, then place it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the small world globe, set on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the small sphere showing earth map, then place on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the small world globe, then places on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe sitting on curved black base, place on blue pad.",
+    "Secure the red block, transfer it away from the small world globe, and drop it onto the blue pad.",
+    "Left arm grabs red block, right arm receives it away from the globe with curved black base, then sets it on blue pad.",
+    "Pick the red block, keep the transfer away from the blue sphere with countries marked, and place it on blue pad.",
+    "Use left arm to pick red block, avoid the earth-shaped globe with black frame during handoff, right arm place blue pad.",
+    "Left arm take red block, keep the pass away from the compact globe with labeled countries, right arm puts on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the earth-shaped globe with black frame, then place on blue pad.",
+    "Lift the red block, do a handover avoiding the earth-shaped globe with black frame, then place it onto the blue pad.",
+    "Take the red block from the table, hand over away from the earth-shaped globe with black frame, drop on blue pad.",
+    "Take the red block from the table, pass it clear of the globe sitting on curved black base, and put it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the compact globe with labeled countries, place blue pad.",
+    "Grab the red block, transfer it while steering clear of the globe sitting on curved black base, place on blue pad.",
+    "Left arm grips red block, hands off away from the hand-sized globe on sturdy stand, right arm places on blue pad.",
+    "Grab red block, pass it along a path clear of the blue globe with colorful continents, place onto blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe featuring bright country colors, and place on blue pad.",
+    "Left arm lifts red block, handover away from the blue globe, right arm sets it on blue pad.",
+    "Lift the red block, hand it across away from the small world globe, then place it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the blue sphere with countries marked, set on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe featuring bright country colors, then place on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the compact globe with labeled countries, then places on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe with curved black base, place on blue pad.",
+    "Secure the red block, transfer it away from the earth-shaped globe with black frame, and drop it onto the blue pad.",
+    "Left arm grabs red block, right arm receives it away from the hand-sized globe on sturdy stand, then sets it on blue pad.",
+    "Pick the red block, keep the transfer away from the blue globe, and place it on blue pad."
+  ],
+  "unseen": [
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad."
+  ]
+}
\ No newline at end of file
diff --git a/handover_block_wp1/handover_block_wp1/instructions/episode25.json b/handover_block_wp1/handover_block_wp1/instructions/episode25.json
new file mode 100644
index 0000000000000000000000000000000000000000..ac6ff6b214b4e7266c8d3ce458127c43dd9c98d2
--- /dev/null
+++ b/handover_block_wp1/handover_block_wp1/instructions/episode25.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the red block from the table, hand over away from the globe with curved black base, drop on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the compact globe with labeled countries, and place on blue pad.",
+    "Lift the red block, do a handover avoiding the globe sitting on curved black base, then place it onto the blue pad.",
+    "Left arm lifts red block, handover away from the compact globe with labeled countries, right arm sets it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the small sphere showing earth map, then places on blue pad.",
+    "Lift the red block, hand it across away from the small sphere showing earth map, then place it on blue pad.",
+    "Secure the red block, transfer it away from the blue globe, and drop it onto the blue pad.",
+    "Left arm take red block, keep the pass away from the globe sitting on curved black base, right arm puts on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the small sphere showing earth map, set on blue pad.",
+    "Take the red block from the table, pass it clear of the colorful globe on black stand, and put it on blue pad.",
+    "Left arm grips red block, hands off away from the globe sitting on curved black base, right arm places on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the colorful globe on black stand, place blue pad.",
+    "Pick the red block, keep the transfer away from the earth-shaped globe with black frame, and place it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the globe with curved black base, then place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the blue globe, place on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the hand-sized globe on sturdy stand, then sets it on blue pad.",
+    "Use left arm to pick red block, avoid the colorful globe on black stand during handoff, right arm place blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the small world globe, then place on blue pad.",
+    "Grab the red block, transfer it while steering clear of the globe featuring bright country colors, place on blue pad.",
+    "Grab red block, pass it along a path clear of the small sphere showing earth map, place onto blue pad.",
+    "Take the red block from the table, hand over away from the compact globe with labeled countries, drop on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the blue globe with colorful continents, and place on blue pad.",
+    "Lift the red block, do a handover avoiding the hand-sized globe on sturdy stand, then place it onto the blue pad.",
+    "Left arm lifts red block, handover away from the globe featuring bright country colors, right arm sets it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe featuring bright country colors, then places on blue pad.",
+    "Lift the red block, hand it across away from the hand-sized globe on sturdy stand, then place it on blue pad.",
+    "Secure the red block, transfer it away from the colorful globe on black stand, and drop it onto the blue pad.",
+    "Left arm take red block, keep the pass away from the compact globe with labeled countries, right arm puts on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe sitting on curved black base, set on blue pad.",
+    "Take the red block from the table, pass it clear of the compact globe with labeled countries, and put it on blue pad.",
+    "Left arm grips red block, hands off away from the colorful globe on black stand, right arm places on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the compact globe with labeled countries, place blue pad.",
+    "Pick the red block, keep the transfer away from the blue sphere with countries marked, and place it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the hand-sized globe on sturdy stand, then place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe with curved black base, place on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the blue sphere with countries marked, then sets it on blue pad.",
+    "Use left arm to pick red block, avoid the colorful globe on black stand during handoff, right arm place blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe sitting on curved black base, then place on blue pad.",
+    "Grab the red block, transfer it while steering clear of the globe featuring bright country colors, place on blue pad.",
+    "Grab red block, pass it along a path clear of the hand-sized globe on sturdy stand, place onto blue pad.",
+    "Take the red block from the table, hand over away from the blue globe with colorful continents, drop on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the compact globe with labeled countries, and place on blue pad.",
+    "Lift the red block, do a handover avoiding the blue sphere with countries marked, then place it onto the blue pad.",
+    "Left arm lifts red block, handover away from the globe sitting on curved black base, right arm sets it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the blue globe with colorful continents, then places on blue pad.",
+    "Lift the red block, hand it across away from the hand-sized globe on sturdy stand, then place it on blue pad.",
+    "Secure the red block, transfer it away from the small world globe, and drop it onto the blue pad.",
+    "Left arm take red block, keep the pass away from the colorful globe on black stand, right arm puts on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the blue globe with colorful continents, set on blue pad.",
+    "Take the red block from the table, pass it clear of the compact globe with labeled countries, and put it on blue pad.",
+    "Left arm grips red block, hands off away from the colorful globe on black stand, right arm places on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the small sphere showing earth map, place blue pad.",
+    "Pick the red block, keep the transfer away from the hand-sized globe on sturdy stand, and place it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the globe featuring bright country colors, then place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe featuring bright country colors, place on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the colorful globe on black stand, then sets it on blue pad.",
+    "Use left arm to pick red block, avoid the blue globe with colorful continents during handoff, right arm place blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe sitting on curved black base, then place on blue pad.",
+    "Grab the red block, transfer it while steering clear of the hand-sized globe on sturdy stand, place on blue pad.",
+    "Grab red block, pass it along a path clear of the globe featuring bright country colors, place onto blue pad.",
+    "Take the red block from the table, hand over away from the globe featuring bright country colors, drop on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the blue sphere with countries marked, and place on blue pad.",
+    "Lift the red block, do a handover avoiding the blue globe, then place it onto the blue pad.",
+    "Left arm lifts red block, handover away from the small sphere showing earth map, right arm sets it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the colorful globe on black stand, then places on blue pad.",
+    "Lift the red block, hand it across away from the globe featuring bright country colors, then place it on blue pad.",
+    "Secure the red block, transfer it away from the blue sphere with countries marked, and drop it onto the blue pad.",
+    "Left arm take red block, keep the pass away from the globe with curved black base, right arm puts on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe with curved black base, set on blue pad.",
+    "Take the red block from the table, pass it clear of the globe featuring bright country colors, and put it on blue pad.",
+    "Left arm grips red block, hands off away from the blue sphere with countries marked, right arm places on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the compact globe with labeled countries, place blue pad.",
+    "Pick the red block, keep the transfer away from the hand-sized globe on sturdy stand, and place it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the small world globe, then place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the small world globe, place on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the small sphere showing earth map, then sets it on blue pad.",
+    "Use left arm to pick red block, avoid the small world globe during handoff, right arm place blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the colorful globe on black stand, then place on blue pad.",
+    "Grab the red block, transfer it while steering clear of the small world globe, place on blue pad.",
+    "Grab red block, pass it along a path clear of the small sphere showing earth map, place onto blue pad.",
+    "Take the red block from the table, hand over away from the globe sitting on curved black base, drop on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the blue sphere with countries marked, and place on blue pad.",
+    "Lift the red block, do a handover avoiding the small world globe, then place it onto the blue pad.",
+    "Left arm lifts red block, handover away from the globe with curved black base, right arm sets it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the earth-shaped globe with black frame, then places on blue pad.",
+    "Lift the red block, hand it across away from the globe with curved black base, then place it on blue pad.",
+    "Secure the red block, transfer it away from the small world globe, and drop it onto the blue pad.",
+    "Left arm take red block, keep the pass away from the globe with curved black base, right arm puts on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe featuring bright country colors, set on blue pad.",
+    "Take the red block from the table, pass it clear of the blue sphere with countries marked, and put it on blue pad.",
+    "Left arm grips red block, hands off away from the colorful globe on black stand, right arm places on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the blue globe, place blue pad.",
+    "Pick the red block, keep the transfer away from the globe with curved black base, and place it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the globe with curved black base, then place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the earth-shaped globe with black frame, place on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the small sphere showing earth map, then sets it on blue pad.",
+    "Use left arm to pick red block, avoid the small sphere showing earth map during handoff, right arm place blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the blue globe with colorful continents, then place on blue pad.",
+    "Grab the red block, transfer it while steering clear of the small world globe, place on blue pad.",
+    "Grab red block, pass it along a path clear of the small sphere showing earth map, place onto blue pad."
+  ],
+  "unseen": [
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad."
+  ]
+}
\ No newline at end of file
diff --git a/handover_block_wp1/handover_block_wp1/instructions/episode26.json b/handover_block_wp1/handover_block_wp1/instructions/episode26.json
new file mode 100644
index 0000000000000000000000000000000000000000..c3133612df46bd6b63cdc09560cfe707c11cb8f1
--- /dev/null
+++ b/handover_block_wp1/handover_block_wp1/instructions/episode26.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the red block, keep the transfer away from the colorful globe on black stand, and place it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the globe sitting on curved black base, then place on blue pad.",
+    "Use left arm to pick red block, avoid the globe featuring bright country colors during handoff, right arm place blue pad.",
+    "Grab red block, pass it along a path clear of the earth-shaped globe with black frame, place onto blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the small sphere showing earth map, then place on blue pad.",
+    "Take the red block from the table, pass it clear of the earth-shaped globe with black frame, and put it on blue pad.",
+    "Lift the red block, hand it across away from the blue sphere with countries marked, then place it on blue pad.",
+    "Lift the red block, do a handover avoiding the blue sphere with countries marked, then place it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm away from the colorful globe on black stand, place blue pad.",
+    "Left arm take red block, keep the pass away from the small sphere showing earth map, right arm puts on blue pad.",
+    "Left arm lifts red block, handover away from the globe featuring bright country colors, right arm sets it on blue pad.",
+    "Left arm grips red block, hands off away from the earth-shaped globe with black frame, right arm places on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the colorful globe on black stand, set on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the hand-sized globe on sturdy stand, then sets it on blue pad.",
+    "Secure the red block, transfer it away from the blue globe, and drop it onto the blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the hand-sized globe on sturdy stand, then places on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe featuring bright country colors, and place on blue pad.",
+    "Take the red block from the table, hand over away from the globe with curved black base, drop on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe with curved black base, place on blue pad.",
+    "Grab the red block, transfer it while steering clear of the earth-shaped globe with black frame, place on blue pad.",
+    "Pick the red block, keep the transfer away from the earth-shaped globe with black frame, and place it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the blue globe with colorful continents, then place on blue pad.",
+    "Use left arm to pick red block, avoid the compact globe with labeled countries during handoff, right arm place blue pad.",
+    "Grab red block, pass it along a path clear of the globe with curved black base, place onto blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the blue sphere with countries marked, then place on blue pad.",
+    "Take the red block from the table, pass it clear of the globe sitting on curved black base, and put it on blue pad.",
+    "Lift the red block, hand it across away from the earth-shaped globe with black frame, then place it on blue pad.",
+    "Lift the red block, do a handover avoiding the blue globe with colorful continents, then place it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm away from the hand-sized globe on sturdy stand, place blue pad.",
+    "Left arm take red block, keep the pass away from the globe featuring bright country colors, right arm puts on blue pad.",
+    "Left arm lifts red block, handover away from the colorful globe on black stand, right arm sets it on blue pad.",
+    "Left arm grips red block, hands off away from the hand-sized globe on sturdy stand, right arm places on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe sitting on curved black base, set on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the colorful globe on black stand, then sets it on blue pad.",
+    "Secure the red block, transfer it away from the compact globe with labeled countries, and drop it onto the blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the colorful globe on black stand, then places on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the small world globe, and place on blue pad.",
+    "Take the red block from the table, hand over away from the blue globe, drop on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the colorful globe on black stand, place on blue pad.",
+    "Grab the red block, transfer it while steering clear of the blue sphere with countries marked, place on blue pad.",
+    "Pick the red block, keep the transfer away from the globe featuring bright country colors, and place it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the small world globe, then place on blue pad.",
+    "Use left arm to pick red block, avoid the blue sphere with countries marked during handoff, right arm place blue pad.",
+    "Grab red block, pass it along a path clear of the blue globe with colorful continents, place onto blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe featuring bright country colors, then place on blue pad.",
+    "Take the red block from the table, pass it clear of the blue globe, and put it on blue pad.",
+    "Lift the red block, hand it across away from the blue globe with colorful continents, then place it on blue pad.",
+    "Lift the red block, do a handover avoiding the small world globe, then place it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm away from the small world globe, place blue pad.",
+    "Left arm take red block, keep the pass away from the compact globe with labeled countries, right arm puts on blue pad.",
+    "Left arm lifts red block, handover away from the hand-sized globe on sturdy stand, right arm sets it on blue pad.",
+    "Left arm grips red block, hands off away from the small world globe, right arm places on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the compact globe with labeled countries, set on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the globe sitting on curved black base, then sets it on blue pad.",
+    "Secure the red block, transfer it away from the blue globe with colorful continents, and drop it onto the blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the blue sphere with countries marked, then places on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the earth-shaped globe with black frame, and place on blue pad.",
+    "Take the red block from the table, hand over away from the globe with curved black base, drop on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the small sphere showing earth map, place on blue pad.",
+    "Grab the red block, transfer it while steering clear of the blue globe with colorful continents, place on blue pad.",
+    "Pick the red block, keep the transfer away from the globe with curved black base, and place it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the blue globe with colorful continents, then place on blue pad.",
+    "Use left arm to pick red block, avoid the hand-sized globe on sturdy stand during handoff, right arm place blue pad.",
+    "Grab red block, pass it along a path clear of the globe sitting on curved black base, place onto blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe sitting on curved black base, then place on blue pad.",
+    "Take the red block from the table, pass it clear of the small world globe, and put it on blue pad.",
+    "Lift the red block, hand it across away from the blue globe with colorful continents, then place it on blue pad.",
+    "Lift the red block, do a handover avoiding the colorful globe on black stand, then place it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm away from the small world globe, place blue pad.",
+    "Left arm take red block, keep the pass away from the small sphere showing earth map, right arm puts on blue pad.",
+    "Left arm lifts red block, handover away from the globe featuring bright country colors, right arm sets it on blue pad.",
+    "Left arm grips red block, hands off away from the blue sphere with countries marked, right arm places on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the compact globe with labeled countries, set on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the small sphere showing earth map, then sets it on blue pad.",
+    "Secure the red block, transfer it away from the colorful globe on black stand, and drop it onto the blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the earth-shaped globe with black frame, then places on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the compact globe with labeled countries, and place on blue pad.",
+    "Take the red block from the table, hand over away from the colorful globe on black stand, drop on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe with curved black base, place on blue pad.",
+    "Grab the red block, transfer it while steering clear of the blue globe with colorful continents, place on blue pad.",
+    "Pick the red block, keep the transfer away from the globe featuring bright country colors, and place it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the blue globe with colorful continents, then place on blue pad.",
+    "Use left arm to pick red block, avoid the compact globe with labeled countries during handoff, right arm place blue pad.",
+    "Grab red block, pass it along a path clear of the globe sitting on curved black base, place onto blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe featuring bright country colors, then place on blue pad.",
+    "Take the red block from the table, pass it clear of the blue globe with colorful continents, and put it on blue pad.",
+    "Lift the red block, hand it across away from the globe featuring bright country colors, then place it on blue pad.",
+    "Lift the red block, do a handover avoiding the blue globe with colorful continents, then place it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe featuring bright country colors, place blue pad.",
+    "Left arm take red block, keep the pass away from the globe with curved black base, right arm puts on blue pad.",
+    "Left arm lifts red block, handover away from the globe with curved black base, right arm sets it on blue pad.",
+    "Left arm grips red block, hands off away from the globe featuring bright country colors, right arm places on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the hand-sized globe on sturdy stand, set on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the blue globe, then sets it on blue pad.",
+    "Secure the red block, transfer it away from the earth-shaped globe with black frame, and drop it onto the blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the colorful globe on black stand, then places on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the blue globe with colorful continents, and place on blue pad.",
+    "Take the red block from the table, hand over away from the compact globe with labeled countries, drop on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the hand-sized globe on sturdy stand, place on blue pad.",
+    "Grab the red block, transfer it while steering clear of the blue sphere with countries marked, place on blue pad."
+  ],
+  "unseen": [
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand."
+  ]
+}
\ No newline at end of file
diff --git a/handover_block_wp1/handover_block_wp1/instructions/episode27.json b/handover_block_wp1/handover_block_wp1/instructions/episode27.json
new file mode 100644
index 0000000000000000000000000000000000000000..61949b00f6038f717ee62c38e494e07ca3e5ed3d
--- /dev/null
+++ b/handover_block_wp1/handover_block_wp1/instructions/episode27.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Left arm take red block, keep the pass away from the globe with curved black stand, right arm puts on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the globe with smooth surface, then place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the brown globe on black stand, and place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe with curved black stand, place on blue pad.",
+    "Use left arm to pick red block, avoid the brown globe on black stand during handoff, right arm place blue pad.",
+    "Lift the red block, do a handover avoiding the decor piece globe, then place it onto the blue pad.",
+    "Left arm lifts red block, handover away from the beige and brown globe, right arm sets it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the smooth beige globe with continents, set on blue pad.",
+    "Grab the red block, transfer it while steering clear of the decor piece globe, place on blue pad.",
+    "Secure the red block, transfer it away from the Earth map globe, and drop it onto the blue pad.",
+    "Grab red block, pass it along a path clear of the round Earth globe, place onto blue pad.",
+    "Left arm grips red block, hands off away from the globe for geographic reference, right arm places on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the spinning brown globe, then place on blue pad.",
+    "Lift the red block, hand it across away from the globe for geographic reference, then place it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe for geographic reference, then places on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the round Earth globe, place blue pad.",
+    "Take the red block from the table, hand over away from the brown globe on black stand, drop on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the round Earth globe, then sets it on blue pad.",
+    "Take the red block from the table, pass it clear of the globe with smooth surface, and put it on blue pad.",
+    "Pick the red block, keep the transfer away from the Earth map globe, and place it on blue pad.",
+    "Left arm take red block, keep the pass away from the globe for geographic reference, right arm puts on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the smooth beige globe with continents, then place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the round globe with sturdy base, and place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe with smooth surface, place on blue pad.",
+    "Use left arm to pick red block, avoid the smooth beige globe with continents during handoff, right arm place blue pad.",
+    "Lift the red block, do a handover avoiding the round globe with sturdy base, then place it onto the blue pad.",
+    "Left arm lifts red block, handover away from the wooden globe with metal base, right arm sets it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the Earth map globe, set on blue pad.",
+    "Grab the red block, transfer it while steering clear of the globe with smooth surface, place on blue pad.",
+    "Secure the red block, transfer it away from the decor piece globe, and drop it onto the blue pad.",
+    "Grab red block, pass it along a path clear of the globe for geographic reference, place onto blue pad.",
+    "Left arm grips red block, hands off away from the globe for geographic reference, right arm places on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the Earth map globe, then place on blue pad.",
+    "Lift the red block, hand it across away from the brown globe on black stand, then place it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the Earth map globe, then places on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the brown globe on black stand, place blue pad.",
+    "Take the red block from the table, hand over away from the smooth beige globe with continents, drop on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the beige and brown globe, then sets it on blue pad.",
+    "Take the red block from the table, pass it clear of the round globe with sturdy base, and put it on blue pad.",
+    "Pick the red block, keep the transfer away from the decor piece globe, and place it on blue pad.",
+    "Left arm take red block, keep the pass away from the wooden globe with metal base, right arm puts on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the round globe with sturdy base, then place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the Earth map globe, and place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the brown globe on black stand, place on blue pad.",
+    "Use left arm to pick red block, avoid the brown globe on black stand during handoff, right arm place blue pad.",
+    "Lift the red block, do a handover avoiding the globe for geographic reference, then place it onto the blue pad.",
+    "Left arm lifts red block, handover away from the brown globe on black stand, right arm sets it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the brown globe on black stand, set on blue pad.",
+    "Grab the red block, transfer it while steering clear of the beige and brown globe, place on blue pad.",
+    "Secure the red block, transfer it away from the round Earth globe, and drop it onto the blue pad.",
+    "Grab red block, pass it along a path clear of the brown globe on black stand, place onto blue pad.",
+    "Left arm grips red block, hands off away from the smooth beige globe with continents, right arm places on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe for geographic reference, then place on blue pad.",
+    "Lift the red block, hand it across away from the brown globe on black stand, then place it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the wooden globe with metal base, then places on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the spinning brown globe, place blue pad.",
+    "Take the red block from the table, hand over away from the beige and brown globe, drop on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the spinning brown globe, then sets it on blue pad.",
+    "Take the red block from the table, pass it clear of the smooth beige globe with continents, and put it on blue pad.",
+    "Pick the red block, keep the transfer away from the Earth map globe, and place it on blue pad.",
+    "Left arm take red block, keep the pass away from the round globe with sturdy base, right arm puts on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the beige and brown globe, then place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the Earth map globe, and place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the decor piece globe, place on blue pad.",
+    "Use left arm to pick red block, avoid the globe for geographic reference during handoff, right arm place blue pad.",
+    "Lift the red block, do a handover avoiding the smooth beige globe with continents, then place it onto the blue pad.",
+    "Left arm lifts red block, handover away from the brown globe on black stand, right arm sets it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe for geographic reference, set on blue pad.",
+    "Grab the red block, transfer it while steering clear of the wooden globe with metal base, place on blue pad.",
+    "Secure the red block, transfer it away from the brown globe on black stand, and drop it onto the blue pad.",
+    "Grab red block, pass it along a path clear of the beige and brown globe, place onto blue pad.",
+    "Left arm grips red block, hands off away from the decor piece globe, right arm places on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe with smooth surface, then place on blue pad.",
+    "Lift the red block, hand it across away from the spinning brown globe, then place it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the Earth map globe, then places on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the wooden globe with metal base, place blue pad.",
+    "Take the red block from the table, hand over away from the smooth beige globe with continents, drop on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the round Earth globe, then sets it on blue pad.",
+    "Take the red block from the table, pass it clear of the brown globe on black stand, and put it on blue pad.",
+    "Pick the red block, keep the transfer away from the spinning brown globe, and place it on blue pad.",
+    "Left arm take red block, keep the pass away from the round globe with sturdy base, right arm puts on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the round globe with sturdy base, then place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the wooden globe with metal base, and place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the wooden globe with metal base, place on blue pad.",
+    "Use left arm to pick red block, avoid the Earth map globe during handoff, right arm place blue pad.",
+    "Lift the red block, do a handover avoiding the globe with smooth surface, then place it onto the blue pad.",
+    "Left arm lifts red block, handover away from the Earth map globe, right arm sets it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the Earth map globe, set on blue pad.",
+    "Grab the red block, transfer it while steering clear of the Earth map globe, place on blue pad.",
+    "Secure the red block, transfer it away from the globe with curved black stand, and drop it onto the blue pad.",
+    "Grab red block, pass it along a path clear of the decor piece globe, place onto blue pad.",
+    "Left arm grips red block, hands off away from the wooden globe with metal base, right arm places on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the wooden globe with metal base, then place on blue pad.",
+    "Lift the red block, hand it across away from the spinning brown globe, then place it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe with curved black stand, then places on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe with smooth surface, place blue pad.",
+    "Take the red block from the table, hand over away from the globe with curved black stand, drop on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the globe for geographic reference, then sets it on blue pad.",
+    "Take the red block from the table, pass it clear of the smooth beige globe with continents, and put it on blue pad.",
+    "Pick the red block, keep the transfer away from the decor piece globe, and place it on blue pad."
+  ],
+  "unseen": [
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad."
+  ]
+}
\ No newline at end of file
diff --git a/handover_block_wp1/handover_block_wp1/instructions/episode28.json b/handover_block_wp1/handover_block_wp1/instructions/episode28.json
new file mode 100644
index 0000000000000000000000000000000000000000..84ab72929493a7ce368418458ac0930363993cbf
--- /dev/null
+++ b/handover_block_wp1/handover_block_wp1/instructions/episode28.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the red block, transfer it while staying clear of the globe for geographic reference, and place on blue pad.",
+    "Left arm lifts red block, handover away from the round Earth globe, right arm sets it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the smooth beige globe with continents, then place on blue pad.",
+    "Grab the red block, transfer it while steering clear of the round globe with sturdy base, place on blue pad.",
+    "Left arm grips red block, hands off away from the smooth beige globe with continents, right arm places on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the globe for geographic reference, then sets it on blue pad.",
+    "Left arm take red block, keep the pass away from the spinning brown globe, right arm puts on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the Earth map globe, set on blue pad.",
+    "Take the red block from the table, pass it clear of the Earth map globe, and put it on blue pad.",
+    "Secure the red block, transfer it away from the globe with smooth surface, and drop it onto the blue pad.",
+    "Lift the red block, do a handover avoiding the globe with curved black stand, then place it onto the blue pad.",
+    "Grab red block, pass it along a path clear of the Earth map globe, place onto blue pad.",
+    "Take the red block from the table, hand over away from the wooden globe with metal base, drop on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the spinning brown globe, place blue pad.",
+    "Use left arm to pick red block, avoid the smooth beige globe with continents during handoff, right arm place blue pad.",
+    "Pick the red block, keep the transfer away from the globe with smooth surface, and place it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the beige and brown globe, then places on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the smooth beige globe with continents, then place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the round Earth globe, place on blue pad.",
+    "Lift the red block, hand it across away from the round Earth globe, then place it on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the round globe with sturdy base, and place on blue pad.",
+    "Left arm lifts red block, handover away from the beige and brown globe, right arm sets it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the smooth beige globe with continents, then place on blue pad.",
+    "Grab the red block, transfer it while steering clear of the decor piece globe, place on blue pad.",
+    "Left arm grips red block, hands off away from the beige and brown globe, right arm places on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the round Earth globe, then sets it on blue pad.",
+    "Left arm take red block, keep the pass away from the spinning brown globe, right arm puts on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe with curved black stand, set on blue pad.",
+    "Take the red block from the table, pass it clear of the brown globe on black stand, and put it on blue pad.",
+    "Secure the red block, transfer it away from the round Earth globe, and drop it onto the blue pad.",
+    "Lift the red block, do a handover avoiding the globe with smooth surface, then place it onto the blue pad.",
+    "Grab red block, pass it along a path clear of the spinning brown globe, place onto blue pad.",
+    "Take the red block from the table, hand over away from the globe for geographic reference, drop on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the decor piece globe, place blue pad.",
+    "Use left arm to pick red block, avoid the brown globe on black stand during handoff, right arm place blue pad.",
+    "Pick the red block, keep the transfer away from the round Earth globe, and place it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe for geographic reference, then places on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe for geographic reference, then place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the round globe with sturdy base, place on blue pad.",
+    "Lift the red block, hand it across away from the Earth map globe, then place it on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the round globe with sturdy base, and place on blue pad.",
+    "Left arm lifts red block, handover away from the decor piece globe, right arm sets it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the round globe with sturdy base, then place on blue pad.",
+    "Grab the red block, transfer it while steering clear of the round globe with sturdy base, place on blue pad.",
+    "Left arm grips red block, hands off away from the beige and brown globe, right arm places on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the brown globe on black stand, then sets it on blue pad.",
+    "Left arm take red block, keep the pass away from the wooden globe with metal base, right arm puts on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the wooden globe with metal base, set on blue pad.",
+    "Take the red block from the table, pass it clear of the wooden globe with metal base, and put it on blue pad.",
+    "Secure the red block, transfer it away from the wooden globe with metal base, and drop it onto the blue pad.",
+    "Lift the red block, do a handover avoiding the Earth map globe, then place it onto the blue pad.",
+    "Grab red block, pass it along a path clear of the round globe with sturdy base, place onto blue pad.",
+    "Take the red block from the table, hand over away from the wooden globe with metal base, drop on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the spinning brown globe, place blue pad.",
+    "Use left arm to pick red block, avoid the round Earth globe during handoff, right arm place blue pad.",
+    "Pick the red block, keep the transfer away from the Earth map globe, and place it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the brown globe on black stand, then places on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the brown globe on black stand, then place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the Earth map globe, place on blue pad.",
+    "Lift the red block, hand it across away from the globe for geographic reference, then place it on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe for geographic reference, and place on blue pad.",
+    "Left arm lifts red block, handover away from the globe for geographic reference, right arm sets it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the round globe with sturdy base, then place on blue pad.",
+    "Grab the red block, transfer it while steering clear of the Earth map globe, place on blue pad.",
+    "Left arm grips red block, hands off away from the spinning brown globe, right arm places on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the globe with smooth surface, then sets it on blue pad.",
+    "Left arm take red block, keep the pass away from the spinning brown globe, right arm puts on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the round Earth globe, set on blue pad.",
+    "Take the red block from the table, pass it clear of the globe with curved black stand, and put it on blue pad.",
+    "Secure the red block, transfer it away from the globe with curved black stand, and drop it onto the blue pad.",
+    "Lift the red block, do a handover avoiding the smooth beige globe with continents, then place it onto the blue pad.",
+    "Grab red block, pass it along a path clear of the beige and brown globe, place onto blue pad.",
+    "Take the red block from the table, hand over away from the wooden globe with metal base, drop on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe with curved black stand, place blue pad.",
+    "Use left arm to pick red block, avoid the spinning brown globe during handoff, right arm place blue pad.",
+    "Pick the red block, keep the transfer away from the round Earth globe, and place it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the decor piece globe, then places on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the round Earth globe, then place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the beige and brown globe, place on blue pad.",
+    "Lift the red block, hand it across away from the globe with curved black stand, then place it on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the Earth map globe, and place on blue pad.",
+    "Left arm lifts red block, handover away from the round Earth globe, right arm sets it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the globe with smooth surface, then place on blue pad.",
+    "Grab the red block, transfer it while steering clear of the brown globe on black stand, place on blue pad.",
+    "Left arm grips red block, hands off away from the wooden globe with metal base, right arm places on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the round globe with sturdy base, then sets it on blue pad.",
+    "Left arm take red block, keep the pass away from the brown globe on black stand, right arm puts on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the Earth map globe, set on blue pad.",
+    "Take the red block from the table, pass it clear of the wooden globe with metal base, and put it on blue pad.",
+    "Secure the red block, transfer it away from the round globe with sturdy base, and drop it onto the blue pad.",
+    "Lift the red block, do a handover avoiding the brown globe on black stand, then place it onto the blue pad.",
+    "Grab red block, pass it along a path clear of the decor piece globe, place onto blue pad.",
+    "Take the red block from the table, hand over away from the smooth beige globe with continents, drop on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe for geographic reference, place blue pad.",
+    "Use left arm to pick red block, avoid the decor piece globe during handoff, right arm place blue pad.",
+    "Pick the red block, keep the transfer away from the decor piece globe, and place it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the round Earth globe, then places on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the decor piece globe, then place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the beige and brown globe, place on blue pad.",
+    "Lift the red block, hand it across away from the smooth beige globe with continents, then place it on blue pad."
+  ],
+  "unseen": [
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad."
+  ]
+}
\ No newline at end of file
diff --git a/handover_block_wp1/handover_block_wp1/instructions/episode29.json b/handover_block_wp1/handover_block_wp1/instructions/episode29.json
new file mode 100644
index 0000000000000000000000000000000000000000..a268e4b172cee4e35dfd2276f7e3a82c34ab149c
--- /dev/null
+++ b/handover_block_wp1/handover_block_wp1/instructions/episode29.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the red block, keep the transfer away from the round globe with sturdy base, and place it on blue pad.",
+    "Lift the red block, do a handover avoiding the brown globe on black stand, then place it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm away from the decor piece globe, place blue pad.",
+    "Left arm lifts red block, handover away from the brown globe on black stand, right arm sets it on blue pad.",
+    "Left arm take red block, keep the pass away from the beige and brown globe, right arm puts on blue pad.",
+    "Grab red block, pass it along a path clear of the smooth beige globe with continents, place onto blue pad.",
+    "Pick the red block, hand it over while keeping clear of the Earth map globe, then place on blue pad.",
+    "Grab the red block, transfer it while steering clear of the globe for geographic reference, place on blue pad.",
+    "Lift the red block, hand it across away from the decor piece globe, then place it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the Earth map globe, set on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe for geographic reference, then place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the wooden globe with metal base, place on blue pad.",
+    "Take the red block from the table, pass it clear of the wooden globe with metal base, and put it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the brown globe on black stand, then sets it on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the decor piece globe, and place on blue pad.",
+    "Take the red block from the table, hand over away from the round globe with sturdy base, drop on blue pad.",
+    "Secure the red block, transfer it away from the round Earth globe, and drop it onto the blue pad.",
+    "Left arm grips red block, hands off away from the globe with smooth surface, right arm places on blue pad.",
+    "Use left arm to pick red block, avoid the globe with smooth surface during handoff, right arm place blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the brown globe on black stand, then places on blue pad.",
+    "Pick the red block, keep the transfer away from the round Earth globe, and place it on blue pad.",
+    "Lift the red block, do a handover avoiding the round Earth globe, then place it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm away from the brown globe on black stand, place blue pad.",
+    "Left arm lifts red block, handover away from the spinning brown globe, right arm sets it on blue pad.",
+    "Left arm take red block, keep the pass away from the smooth beige globe with continents, right arm puts on blue pad.",
+    "Grab red block, pass it along a path clear of the spinning brown globe, place onto blue pad.",
+    "Pick the red block, hand it over while keeping clear of the wooden globe with metal base, then place on blue pad.",
+    "Grab the red block, transfer it while steering clear of the round Earth globe, place on blue pad.",
+    "Lift the red block, hand it across away from the Earth map globe, then place it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the decor piece globe, set on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the smooth beige globe with continents, then place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the round Earth globe, place on blue pad.",
+    "Take the red block from the table, pass it clear of the smooth beige globe with continents, and put it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the globe with curved black stand, then sets it on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe with smooth surface, and place on blue pad.",
+    "Take the red block from the table, hand over away from the spinning brown globe, drop on blue pad.",
+    "Secure the red block, transfer it away from the globe with smooth surface, and drop it onto the blue pad.",
+    "Left arm grips red block, hands off away from the globe for geographic reference, right arm places on blue pad.",
+    "Use left arm to pick red block, avoid the Earth map globe during handoff, right arm place blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the wooden globe with metal base, then places on blue pad.",
+    "Pick the red block, keep the transfer away from the Earth map globe, and place it on blue pad.",
+    "Lift the red block, do a handover avoiding the globe with curved black stand, then place it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm away from the Earth map globe, place blue pad.",
+    "Left arm lifts red block, handover away from the round globe with sturdy base, right arm sets it on blue pad.",
+    "Left arm take red block, keep the pass away from the globe with curved black stand, right arm puts on blue pad.",
+    "Grab red block, pass it along a path clear of the round globe with sturdy base, place onto blue pad.",
+    "Pick the red block, hand it over while keeping clear of the beige and brown globe, then place on blue pad.",
+    "Grab the red block, transfer it while steering clear of the Earth map globe, place on blue pad.",
+    "Lift the red block, hand it across away from the globe with curved black stand, then place it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe with curved black stand, set on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the round globe with sturdy base, then place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the decor piece globe, place on blue pad.",
+    "Take the red block from the table, pass it clear of the smooth beige globe with continents, and put it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the decor piece globe, then sets it on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the wooden globe with metal base, and place on blue pad.",
+    "Take the red block from the table, hand over away from the round globe with sturdy base, drop on blue pad.",
+    "Secure the red block, transfer it away from the wooden globe with metal base, and drop it onto the blue pad.",
+    "Left arm grips red block, hands off away from the spinning brown globe, right arm places on blue pad.",
+    "Use left arm to pick red block, avoid the smooth beige globe with continents during handoff, right arm place blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the Earth map globe, then places on blue pad.",
+    "Pick the red block, keep the transfer away from the smooth beige globe with continents, and place it on blue pad.",
+    "Lift the red block, do a handover avoiding the globe for geographic reference, then place it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm away from the spinning brown globe, place blue pad.",
+    "Left arm lifts red block, handover away from the globe with smooth surface, right arm sets it on blue pad.",
+    "Left arm take red block, keep the pass away from the beige and brown globe, right arm puts on blue pad.",
+    "Grab red block, pass it along a path clear of the globe with curved black stand, place onto blue pad.",
+    "Pick the red block, hand it over while keeping clear of the smooth beige globe with continents, then place on blue pad.",
+    "Grab the red block, transfer it while steering clear of the brown globe on black stand, place on blue pad.",
+    "Lift the red block, hand it across away from the spinning brown globe, then place it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the beige and brown globe, set on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the wooden globe with metal base, then place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the Earth map globe, place on blue pad.",
+    "Take the red block from the table, pass it clear of the round Earth globe, and put it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the wooden globe with metal base, then sets it on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the smooth beige globe with continents, and place on blue pad.",
+    "Take the red block from the table, hand over away from the round Earth globe, drop on blue pad.",
+    "Secure the red block, transfer it away from the decor piece globe, and drop it onto the blue pad.",
+    "Left arm grips red block, hands off away from the smooth beige globe with continents, right arm places on blue pad.",
+    "Use left arm to pick red block, avoid the smooth beige globe with continents during handoff, right arm place blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe with curved black stand, then places on blue pad.",
+    "Pick the red block, keep the transfer away from the globe with curved black stand, and place it on blue pad.",
+    "Lift the red block, do a handover avoiding the Earth map globe, then place it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe with curved black stand, place blue pad.",
+    "Left arm lifts red block, handover away from the wooden globe with metal base, right arm sets it on blue pad.",
+    "Left arm take red block, keep the pass away from the globe for geographic reference, right arm puts on blue pad.",
+    "Grab red block, pass it along a path clear of the globe with curved black stand, place onto blue pad.",
+    "Pick the red block, hand it over while keeping clear of the beige and brown globe, then place on blue pad.",
+    "Grab the red block, transfer it while steering clear of the smooth beige globe with continents, place on blue pad.",
+    "Lift the red block, hand it across away from the round Earth globe, then place it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe with smooth surface, set on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the smooth beige globe with continents, then place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the wooden globe with metal base, place on blue pad.",
+    "Take the red block from the table, pass it clear of the Earth map globe, and put it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the globe with curved black stand, then sets it on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe with curved black stand, and place on blue pad.",
+    "Take the red block from the table, hand over away from the beige and brown globe, drop on blue pad.",
+    "Secure the red block, transfer it away from the smooth beige globe with continents, and drop it onto the blue pad.",
+    "Left arm grips red block, hands off away from the round globe with sturdy base, right arm places on blue pad.",
+    "Use left arm to pick red block, avoid the round Earth globe during handoff, right arm place blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the spinning brown globe, then places on blue pad."
+  ],
+  "unseen": [
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad."
+  ]
+}
\ No newline at end of file
diff --git a/handover_block_wp1/handover_block_wp1/instructions/episode3.json b/handover_block_wp1/handover_block_wp1/instructions/episode3.json
new file mode 100644
index 0000000000000000000000000000000000000000..3aa13e539ca7956d899a8989cd9dec4b06ccf4ef
--- /dev/null
+++ b/handover_block_wp1/handover_block_wp1/instructions/episode3.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Secure the red block, transfer it away from the blue sphere with countries marked, and drop it onto the blue pad.",
+    "Pick up the red block, transfer it while staying clear of the small sphere showing earth map, and place on blue pad.",
+    "Grab red block, pass it along a path clear of the blue sphere with countries marked, place onto blue pad.",
+    "Lift the red block, do a handover avoiding the blue sphere with countries marked, then place it onto the blue pad.",
+    "Left arm grips red block, hands off away from the small world globe, right arm places on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the colorful globe on black stand, place on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the blue sphere with countries marked, then places on blue pad.",
+    "Use left arm to pick red block, avoid the blue sphere with countries marked during handoff, right arm place blue pad.",
+    "Lift the red block, hand it across away from the blue globe with colorful continents, then place it on blue pad.",
+    "Pick the red block, keep the transfer away from the globe sitting on curved black base, and place it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the blue globe with colorful continents, then place on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe sitting on curved black base, place blue pad.",
+    "Take the red block from the table, hand over away from the compact globe with labeled countries, drop on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the compact globe with labeled countries, then place on blue pad.",
+    "Left arm take red block, keep the pass away from the globe featuring bright country colors, right arm puts on blue pad.",
+    "Left arm lifts red block, handover away from the globe with curved black base, right arm sets it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe with curved black base, set on blue pad.",
+    "Take the red block from the table, pass it clear of the hand-sized globe on sturdy stand, and put it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the blue globe with colorful continents, then sets it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the hand-sized globe on sturdy stand, place on blue pad.",
+    "Secure the red block, transfer it away from the colorful globe on black stand, and drop it onto the blue pad.",
+    "Pick up the red block, transfer it while staying clear of the earth-shaped globe with black frame, and place on blue pad.",
+    "Grab red block, pass it along a path clear of the globe sitting on curved black base, place onto blue pad.",
+    "Lift the red block, do a handover avoiding the small world globe, then place it onto the blue pad.",
+    "Left arm grips red block, hands off away from the blue globe with colorful continents, right arm places on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the blue globe with colorful continents, place on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the hand-sized globe on sturdy stand, then places on blue pad.",
+    "Use left arm to pick red block, avoid the globe sitting on curved black base during handoff, right arm place blue pad.",
+    "Lift the red block, hand it across away from the small sphere showing earth map, then place it on blue pad.",
+    "Pick the red block, keep the transfer away from the blue globe, and place it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the hand-sized globe on sturdy stand, then place on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the small world globe, place blue pad.",
+    "Take the red block from the table, hand over away from the blue globe, drop on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the earth-shaped globe with black frame, then place on blue pad.",
+    "Left arm take red block, keep the pass away from the small sphere showing earth map, right arm puts on blue pad.",
+    "Left arm lifts red block, handover away from the globe featuring bright country colors, right arm sets it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe with curved black base, set on blue pad.",
+    "Take the red block from the table, pass it clear of the globe featuring bright country colors, and put it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the blue sphere with countries marked, then sets it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the small sphere showing earth map, place on blue pad.",
+    "Secure the red block, transfer it away from the globe featuring bright country colors, and drop it onto the blue pad.",
+    "Pick up the red block, transfer it while staying clear of the small sphere showing earth map, and place on blue pad.",
+    "Grab red block, pass it along a path clear of the blue sphere with countries marked, place onto blue pad.",
+    "Lift the red block, do a handover avoiding the blue globe with colorful continents, then place it onto the blue pad.",
+    "Left arm grips red block, hands off away from the colorful globe on black stand, right arm places on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the small world globe, place on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the colorful globe on black stand, then places on blue pad.",
+    "Use left arm to pick red block, avoid the globe with curved black base during handoff, right arm place blue pad.",
+    "Lift the red block, hand it across away from the colorful globe on black stand, then place it on blue pad.",
+    "Pick the red block, keep the transfer away from the globe sitting on curved black base, and place it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the hand-sized globe on sturdy stand, then place on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the blue sphere with countries marked, place blue pad.",
+    "Take the red block from the table, hand over away from the earth-shaped globe with black frame, drop on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the blue sphere with countries marked, then place on blue pad.",
+    "Left arm take red block, keep the pass away from the globe sitting on curved black base, right arm puts on blue pad.",
+    "Left arm lifts red block, handover away from the earth-shaped globe with black frame, right arm sets it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe with curved black base, set on blue pad.",
+    "Take the red block from the table, pass it clear of the globe featuring bright country colors, and put it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the blue globe with colorful continents, then sets it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the globe featuring bright country colors, place on blue pad.",
+    "Secure the red block, transfer it away from the colorful globe on black stand, and drop it onto the blue pad.",
+    "Pick up the red block, transfer it while staying clear of the earth-shaped globe with black frame, and place on blue pad.",
+    "Grab red block, pass it along a path clear of the compact globe with labeled countries, place onto blue pad.",
+    "Lift the red block, do a handover avoiding the globe with curved black base, then place it onto the blue pad.",
+    "Left arm grips red block, hands off away from the colorful globe on black stand, right arm places on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the small sphere showing earth map, place on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the blue globe with colorful continents, then places on blue pad.",
+    "Use left arm to pick red block, avoid the globe with curved black base during handoff, right arm place blue pad.",
+    "Lift the red block, hand it across away from the earth-shaped globe with black frame, then place it on blue pad.",
+    "Pick the red block, keep the transfer away from the small sphere showing earth map, and place it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the blue globe with colorful continents, then place on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the small world globe, place blue pad.",
+    "Take the red block from the table, hand over away from the blue globe with colorful continents, drop on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the small sphere showing earth map, then place on blue pad.",
+    "Left arm take red block, keep the pass away from the compact globe with labeled countries, right arm puts on blue pad.",
+    "Left arm lifts red block, handover away from the globe sitting on curved black base, right arm sets it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe with curved black base, set on blue pad.",
+    "Take the red block from the table, pass it clear of the globe featuring bright country colors, and put it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the compact globe with labeled countries, then sets it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the small sphere showing earth map, place on blue pad.",
+    "Secure the red block, transfer it away from the compact globe with labeled countries, and drop it onto the blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe with curved black base, and place on blue pad.",
+    "Grab red block, pass it along a path clear of the blue globe with colorful continents, place onto blue pad.",
+    "Lift the red block, do a handover avoiding the compact globe with labeled countries, then place it onto the blue pad.",
+    "Left arm grips red block, hands off away from the colorful globe on black stand, right arm places on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the small world globe, place on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the blue globe with colorful continents, then places on blue pad.",
+    "Use left arm to pick red block, avoid the blue sphere with countries marked during handoff, right arm place blue pad.",
+    "Lift the red block, hand it across away from the globe featuring bright country colors, then place it on blue pad.",
+    "Pick the red block, keep the transfer away from the small world globe, and place it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the colorful globe on black stand, then place on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the blue globe with colorful continents, place blue pad.",
+    "Take the red block from the table, hand over away from the earth-shaped globe with black frame, drop on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe with curved black base, then place on blue pad.",
+    "Left arm take red block, keep the pass away from the colorful globe on black stand, right arm puts on blue pad.",
+    "Left arm lifts red block, handover away from the colorful globe on black stand, right arm sets it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe with curved black base, set on blue pad.",
+    "Take the red block from the table, pass it clear of the small sphere showing earth map, and put it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the small world globe, then sets it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the small world globe, place on blue pad."
+  ],
+  "unseen": [
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand."
+  ]
+}
\ No newline at end of file
diff --git a/handover_block_wp1/handover_block_wp1/instructions/episode30.json b/handover_block_wp1/handover_block_wp1/instructions/episode30.json
new file mode 100644
index 0000000000000000000000000000000000000000..4718d7e44a4530258718dea19fdccf189fe842bf
--- /dev/null
+++ b/handover_block_wp1/handover_block_wp1/instructions/episode30.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the red block from the table, hand over away from the Earth map globe, drop on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the spinning brown globe, set on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the brown globe on black stand, then places on blue pad.",
+    "Left arm lifts red block, handover away from the spinning brown globe, right arm sets it on blue pad.",
+    "Take the red block from the table, pass it clear of the beige and brown globe, and put it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the brown globe on black stand, place blue pad.",
+    "Pick the red block, hand it over while keeping clear of the brown globe on black stand, then place on blue pad.",
+    "Grab the red block, transfer it while steering clear of the decor piece globe, place on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the spinning brown globe, then sets it on blue pad.",
+    "Lift the red block, do a handover avoiding the round Earth globe, then place it onto the blue pad.",
+    "Left arm grips red block, hands off away from the wooden globe with metal base, right arm places on blue pad.",
+    "Secure the red block, transfer it away from the decor piece globe, and drop it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the Earth map globe, then place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the decor piece globe, and place on blue pad.",
+    "Lift the red block, hand it across away from the globe with curved black stand, then place it on blue pad.",
+    "Grab red block, pass it along a path clear of the round Earth globe, place onto blue pad.",
+    "Use left arm to pick red block, avoid the globe for geographic reference during handoff, right arm place blue pad.",
+    "Left arm take red block, keep the pass away from the wooden globe with metal base, right arm puts on blue pad.",
+    "Pick the red block, keep the transfer away from the smooth beige globe with continents, and place it on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the Earth map globe, place on blue pad.",
+    "Take the red block from the table, hand over away from the wooden globe with metal base, drop on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the brown globe on black stand, set on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the wooden globe with metal base, then places on blue pad.",
+    "Left arm lifts red block, handover away from the globe with smooth surface, right arm sets it on blue pad.",
+    "Take the red block from the table, pass it clear of the beige and brown globe, and put it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the wooden globe with metal base, place blue pad.",
+    "Pick the red block, hand it over while keeping clear of the globe for geographic reference, then place on blue pad.",
+    "Grab the red block, transfer it while steering clear of the globe with curved black stand, place on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the globe for geographic reference, then sets it on blue pad.",
+    "Lift the red block, do a handover avoiding the brown globe on black stand, then place it onto the blue pad.",
+    "Left arm grips red block, hands off away from the Earth map globe, right arm places on blue pad.",
+    "Secure the red block, transfer it away from the brown globe on black stand, and drop it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the wooden globe with metal base, then place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe for geographic reference, and place on blue pad.",
+    "Lift the red block, hand it across away from the smooth beige globe with continents, then place it on blue pad.",
+    "Grab red block, pass it along a path clear of the globe with curved black stand, place onto blue pad.",
+    "Use left arm to pick red block, avoid the round globe with sturdy base during handoff, right arm place blue pad.",
+    "Left arm take red block, keep the pass away from the decor piece globe, right arm puts on blue pad.",
+    "Pick the red block, keep the transfer away from the wooden globe with metal base, and place it on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the round Earth globe, place on blue pad.",
+    "Take the red block from the table, hand over away from the round Earth globe, drop on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the beige and brown globe, set on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the beige and brown globe, then places on blue pad.",
+    "Left arm lifts red block, handover away from the beige and brown globe, right arm sets it on blue pad.",
+    "Take the red block from the table, pass it clear of the beige and brown globe, and put it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe with smooth surface, place blue pad.",
+    "Pick the red block, hand it over while keeping clear of the round globe with sturdy base, then place on blue pad.",
+    "Grab the red block, transfer it while steering clear of the round globe with sturdy base, place on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the smooth beige globe with continents, then sets it on blue pad.",
+    "Lift the red block, do a handover avoiding the round Earth globe, then place it onto the blue pad.",
+    "Left arm grips red block, hands off away from the globe with smooth surface, right arm places on blue pad.",
+    "Secure the red block, transfer it away from the spinning brown globe, and drop it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the decor piece globe, then place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe with smooth surface, and place on blue pad.",
+    "Lift the red block, hand it across away from the globe for geographic reference, then place it on blue pad.",
+    "Grab red block, pass it along a path clear of the round Earth globe, place onto blue pad.",
+    "Use left arm to pick red block, avoid the globe with curved black stand during handoff, right arm place blue pad.",
+    "Left arm take red block, keep the pass away from the round globe with sturdy base, right arm puts on blue pad.",
+    "Pick the red block, keep the transfer away from the Earth map globe, and place it on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the spinning brown globe, place on blue pad.",
+    "Take the red block from the table, hand over away from the beige and brown globe, drop on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the round globe with sturdy base, set on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the round Earth globe, then places on blue pad.",
+    "Left arm lifts red block, handover away from the brown globe on black stand, right arm sets it on blue pad.",
+    "Take the red block from the table, pass it clear of the globe with curved black stand, and put it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the beige and brown globe, place blue pad.",
+    "Pick the red block, hand it over while keeping clear of the spinning brown globe, then place on blue pad.",
+    "Grab the red block, transfer it while steering clear of the spinning brown globe, place on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the globe with curved black stand, then sets it on blue pad.",
+    "Lift the red block, do a handover avoiding the brown globe on black stand, then place it onto the blue pad.",
+    "Left arm grips red block, hands off away from the beige and brown globe, right arm places on blue pad.",
+    "Secure the red block, transfer it away from the wooden globe with metal base, and drop it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe with smooth surface, then place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the wooden globe with metal base, and place on blue pad.",
+    "Lift the red block, hand it across away from the round globe with sturdy base, then place it on blue pad.",
+    "Grab red block, pass it along a path clear of the globe for geographic reference, place onto blue pad.",
+    "Use left arm to pick red block, avoid the beige and brown globe during handoff, right arm place blue pad.",
+    "Left arm take red block, keep the pass away from the Earth map globe, right arm puts on blue pad.",
+    "Pick the red block, keep the transfer away from the globe for geographic reference, and place it on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe with smooth surface, place on blue pad.",
+    "Take the red block from the table, hand over away from the globe with smooth surface, drop on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the decor piece globe, set on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe with curved black stand, then places on blue pad.",
+    "Left arm lifts red block, handover away from the round Earth globe, right arm sets it on blue pad.",
+    "Take the red block from the table, pass it clear of the brown globe on black stand, and put it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the round Earth globe, place blue pad.",
+    "Pick the red block, hand it over while keeping clear of the Earth map globe, then place on blue pad.",
+    "Grab the red block, transfer it while steering clear of the globe with smooth surface, place on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the beige and brown globe, then sets it on blue pad.",
+    "Lift the red block, do a handover avoiding the spinning brown globe, then place it onto the blue pad.",
+    "Left arm grips red block, hands off away from the smooth beige globe with continents, right arm places on blue pad.",
+    "Secure the red block, transfer it away from the globe with smooth surface, and drop it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe with curved black stand, then place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the wooden globe with metal base, and place on blue pad.",
+    "Lift the red block, hand it across away from the smooth beige globe with continents, then place it on blue pad.",
+    "Grab red block, pass it along a path clear of the globe with smooth surface, place onto blue pad.",
+    "Use left arm to pick red block, avoid the round Earth globe during handoff, right arm place blue pad.",
+    "Left arm take red block, keep the pass away from the spinning brown globe, right arm puts on blue pad.",
+    "Pick the red block, keep the transfer away from the beige and brown globe, and place it on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the wooden globe with metal base, place on blue pad."
+  ],
+  "unseen": [
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad."
+  ]
+}
\ No newline at end of file
diff --git a/handover_block_wp1/handover_block_wp1/instructions/episode31.json b/handover_block_wp1/handover_block_wp1/instructions/episode31.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ed77d41ebd7e5950daa4af7edc5446a6e260954
--- /dev/null
+++ b/handover_block_wp1/handover_block_wp1/instructions/episode31.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the red block, hand it over while keeping clear of the blue globe, then place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the small sphere showing earth map, and place on blue pad.",
+    "Use left arm to pick red block, avoid the hand-sized globe on sturdy stand during handoff, right arm place blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the blue globe with colorful continents, then place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe sitting on curved black base, set on blue pad.",
+    "Left arm take red block, keep the pass away from the globe with curved black base, right arm puts on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the small world globe, place blue pad.",
+    "Grab red block, pass it along a path clear of the blue globe, place onto blue pad.",
+    "Take the red block from the table, hand over away from the small world globe, drop on blue pad.",
+    "Lift the red block, do a handover avoiding the blue globe, then place it onto the blue pad.",
+    "Take the red block from the table, pass it clear of the small sphere showing earth map, and put it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the blue globe with colorful continents, then places on blue pad.",
+    "Secure the red block, transfer it away from the blue globe, and drop it onto the blue pad.",
+    "Left arm lifts red block, handover away from the globe sitting on curved black base, right arm sets it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the small sphere showing earth map, place on blue pad.",
+    "Lift the red block, hand it across away from the globe sitting on curved black base, then place it on blue pad.",
+    "Pick the red block, keep the transfer away from the colorful globe on black stand, and place it on blue pad.",
+    "Left arm grips red block, hands off away from the globe sitting on curved black base, right arm places on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the blue sphere with countries marked, place on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the blue globe, then sets it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the earth-shaped globe with black frame, then place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the blue globe with colorful continents, and place on blue pad.",
+    "Use left arm to pick red block, avoid the globe featuring bright country colors during handoff, right arm place blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe sitting on curved black base, then place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe with curved black base, set on blue pad.",
+    "Left arm take red block, keep the pass away from the blue sphere with countries marked, right arm puts on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the blue globe, place blue pad.",
+    "Grab red block, pass it along a path clear of the blue globe, place onto blue pad.",
+    "Take the red block from the table, hand over away from the hand-sized globe on sturdy stand, drop on blue pad.",
+    "Lift the red block, do a handover avoiding the small world globe, then place it onto the blue pad.",
+    "Take the red block from the table, pass it clear of the blue globe, and put it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the hand-sized globe on sturdy stand, then places on blue pad.",
+    "Secure the red block, transfer it away from the blue globe with colorful continents, and drop it onto the blue pad.",
+    "Left arm lifts red block, handover away from the blue globe with colorful continents, right arm sets it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the globe sitting on curved black base, place on blue pad.",
+    "Lift the red block, hand it across away from the blue globe with colorful continents, then place it on blue pad.",
+    "Pick the red block, keep the transfer away from the blue globe, and place it on blue pad.",
+    "Left arm grips red block, hands off away from the globe with curved black base, right arm places on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe with curved black base, place on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the compact globe with labeled countries, then sets it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the globe with curved black base, then place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the hand-sized globe on sturdy stand, and place on blue pad.",
+    "Use left arm to pick red block, avoid the blue globe with colorful continents during handoff, right arm place blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe sitting on curved black base, then place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe sitting on curved black base, set on blue pad.",
+    "Left arm take red block, keep the pass away from the globe featuring bright country colors, right arm puts on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe featuring bright country colors, place blue pad.",
+    "Grab red block, pass it along a path clear of the globe sitting on curved black base, place onto blue pad.",
+    "Take the red block from the table, hand over away from the colorful globe on black stand, drop on blue pad.",
+    "Lift the red block, do a handover avoiding the blue globe with colorful continents, then place it onto the blue pad.",
+    "Take the red block from the table, pass it clear of the globe with curved black base, and put it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the compact globe with labeled countries, then places on blue pad.",
+    "Secure the red block, transfer it away from the compact globe with labeled countries, and drop it onto the blue pad.",
+    "Left arm lifts red block, handover away from the hand-sized globe on sturdy stand, right arm sets it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the hand-sized globe on sturdy stand, place on blue pad.",
+    "Lift the red block, hand it across away from the small sphere showing earth map, then place it on blue pad.",
+    "Pick the red block, keep the transfer away from the blue globe with colorful continents, and place it on blue pad.",
+    "Left arm grips red block, hands off away from the small sphere showing earth map, right arm places on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the blue globe, place on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the compact globe with labeled countries, then sets it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the globe sitting on curved black base, then place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe featuring bright country colors, and place on blue pad.",
+    "Use left arm to pick red block, avoid the blue globe with colorful continents during handoff, right arm place blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe sitting on curved black base, then place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the hand-sized globe on sturdy stand, set on blue pad.",
+    "Left arm take red block, keep the pass away from the earth-shaped globe with black frame, right arm puts on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the blue globe, place blue pad.",
+    "Grab red block, pass it along a path clear of the globe with curved black base, place onto blue pad.",
+    "Take the red block from the table, hand over away from the blue globe, drop on blue pad.",
+    "Lift the red block, do a handover avoiding the globe sitting on curved black base, then place it onto the blue pad.",
+    "Take the red block from the table, pass it clear of the earth-shaped globe with black frame, and put it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the hand-sized globe on sturdy stand, then places on blue pad.",
+    "Secure the red block, transfer it away from the small world globe, and drop it onto the blue pad.",
+    "Left arm lifts red block, handover away from the colorful globe on black stand, right arm sets it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the globe with curved black base, place on blue pad.",
+    "Lift the red block, hand it across away from the blue globe with colorful continents, then place it on blue pad.",
+    "Pick the red block, keep the transfer away from the small world globe, and place it on blue pad.",
+    "Left arm grips red block, hands off away from the small world globe, right arm places on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the colorful globe on black stand, place on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the small world globe, then sets it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the blue globe with colorful continents, then place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the blue sphere with countries marked, and place on blue pad.",
+    "Use left arm to pick red block, avoid the blue globe during handoff, right arm place blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the blue sphere with countries marked, then place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the small world globe, set on blue pad.",
+    "Left arm take red block, keep the pass away from the globe with curved black base, right arm puts on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the blue globe with colorful continents, place blue pad.",
+    "Grab red block, pass it along a path clear of the colorful globe on black stand, place onto blue pad.",
+    "Take the red block from the table, hand over away from the colorful globe on black stand, drop on blue pad.",
+    "Lift the red block, do a handover avoiding the blue globe, then place it onto the blue pad.",
+    "Take the red block from the table, pass it clear of the small sphere showing earth map, and put it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the small sphere showing earth map, then places on blue pad.",
+    "Secure the red block, transfer it away from the globe with curved black base, and drop it onto the blue pad.",
+    "Left arm lifts red block, handover away from the blue globe, right arm sets it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the hand-sized globe on sturdy stand, place on blue pad.",
+    "Lift the red block, hand it across away from the blue sphere with countries marked, then place it on blue pad.",
+    "Pick the red block, keep the transfer away from the globe with curved black base, and place it on blue pad.",
+    "Left arm grips red block, hands off away from the colorful globe on black stand, right arm places on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the blue globe with colorful continents, place on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the blue globe with colorful continents, then sets it on blue pad."
+  ],
+  "unseen": [
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad."
+  ]
+}
\ No newline at end of file
diff --git a/handover_block_wp1/handover_block_wp1/instructions/episode32.json b/handover_block_wp1/handover_block_wp1/instructions/episode32.json
new file mode 100644
index 0000000000000000000000000000000000000000..26edcd28fe5c1420944e0bab2d4815fcb1c56ede
--- /dev/null
+++ b/handover_block_wp1/handover_block_wp1/instructions/episode32.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With left arm, lift red block, hand to right arm avoiding the globe for geographic reference, then place on blue pad.",
+    "Left arm take red block, keep the pass away from the globe for geographic reference, right arm puts on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the decor piece globe, then places on blue pad.",
+    "Take the red block from the table, hand over away from the smooth beige globe with continents, drop on blue pad.",
+    "Grab the red block, transfer it while steering clear of the beige and brown globe, place on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the decor piece globe, place blue pad.",
+    "Pick up the red block, transfer it while staying clear of the brown globe on black stand, and place on blue pad.",
+    "Pick the red block, keep the transfer away from the smooth beige globe with continents, and place it on blue pad.",
+    "Lift the red block, hand it across away from the globe with smooth surface, then place it on blue pad.",
+    "Left arm lifts red block, handover away from the decor piece globe, right arm sets it on blue pad.",
+    "Left arm grips red block, hands off away from the globe with smooth surface, right arm places on blue pad.",
+    "Use left arm to pick red block, avoid the globe with curved black stand during handoff, right arm place blue pad.",
+    "Lift the red block, do a handover avoiding the globe with smooth surface, then place it onto the blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the decor piece globe, place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the decor piece globe, set on blue pad.",
+    "Take the red block from the table, pass it clear of the globe for geographic reference, and put it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the wooden globe with metal base, then place on blue pad.",
+    "Grab red block, pass it along a path clear of the globe with smooth surface, place onto blue pad.",
+    "Left arm grabs red block, right arm receives it away from the smooth beige globe with continents, then sets it on blue pad.",
+    "Secure the red block, transfer it away from the globe with smooth surface, and drop it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the round Earth globe, then place on blue pad.",
+    "Left arm take red block, keep the pass away from the smooth beige globe with continents, right arm puts on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the round Earth globe, then places on blue pad.",
+    "Take the red block from the table, hand over away from the globe with smooth surface, drop on blue pad.",
+    "Grab the red block, transfer it while steering clear of the spinning brown globe, place on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the spinning brown globe, place blue pad.",
+    "Pick up the red block, transfer it while staying clear of the smooth beige globe with continents, and place on blue pad.",
+    "Pick the red block, keep the transfer away from the decor piece globe, and place it on blue pad.",
+    "Lift the red block, hand it across away from the decor piece globe, then place it on blue pad.",
+    "Left arm lifts red block, handover away from the globe for geographic reference, right arm sets it on blue pad.",
+    "Left arm grips red block, hands off away from the spinning brown globe, right arm places on blue pad.",
+    "Use left arm to pick red block, avoid the decor piece globe during handoff, right arm place blue pad.",
+    "Lift the red block, do a handover avoiding the spinning brown globe, then place it onto the blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the round globe with sturdy base, place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the beige and brown globe, set on blue pad.",
+    "Take the red block from the table, pass it clear of the decor piece globe, and put it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the beige and brown globe, then place on blue pad.",
+    "Grab red block, pass it along a path clear of the spinning brown globe, place onto blue pad.",
+    "Left arm grabs red block, right arm receives it away from the wooden globe with metal base, then sets it on blue pad.",
+    "Secure the red block, transfer it away from the decor piece globe, and drop it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the beige and brown globe, then place on blue pad.",
+    "Left arm take red block, keep the pass away from the globe for geographic reference, right arm puts on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe for geographic reference, then places on blue pad.",
+    "Take the red block from the table, hand over away from the spinning brown globe, drop on blue pad.",
+    "Grab the red block, transfer it while steering clear of the spinning brown globe, place on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the spinning brown globe, place blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe for geographic reference, and place on blue pad.",
+    "Pick the red block, keep the transfer away from the wooden globe with metal base, and place it on blue pad.",
+    "Lift the red block, hand it across away from the spinning brown globe, then place it on blue pad.",
+    "Left arm lifts red block, handover away from the wooden globe with metal base, right arm sets it on blue pad.",
+    "Left arm grips red block, hands off away from the decor piece globe, right arm places on blue pad.",
+    "Use left arm to pick red block, avoid the beige and brown globe during handoff, right arm place blue pad.",
+    "Lift the red block, do a handover avoiding the spinning brown globe, then place it onto the blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the brown globe on black stand, place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the spinning brown globe, set on blue pad.",
+    "Take the red block from the table, pass it clear of the beige and brown globe, and put it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the round Earth globe, then place on blue pad.",
+    "Grab red block, pass it along a path clear of the Earth map globe, place onto blue pad.",
+    "Left arm grabs red block, right arm receives it away from the Earth map globe, then sets it on blue pad.",
+    "Secure the red block, transfer it away from the globe with curved black stand, and drop it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the brown globe on black stand, then place on blue pad.",
+    "Left arm take red block, keep the pass away from the brown globe on black stand, right arm puts on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the brown globe on black stand, then places on blue pad.",
+    "Take the red block from the table, hand over away from the brown globe on black stand, drop on blue pad.",
+    "Grab the red block, transfer it while steering clear of the smooth beige globe with continents, place on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe with curved black stand, place blue pad.",
+    "Pick up the red block, transfer it while staying clear of the spinning brown globe, and place on blue pad.",
+    "Pick the red block, keep the transfer away from the beige and brown globe, and place it on blue pad.",
+    "Lift the red block, hand it across away from the round Earth globe, then place it on blue pad.",
+    "Left arm lifts red block, handover away from the decor piece globe, right arm sets it on blue pad.",
+    "Left arm grips red block, hands off away from the globe for geographic reference, right arm places on blue pad.",
+    "Use left arm to pick red block, avoid the wooden globe with metal base during handoff, right arm place blue pad.",
+    "Lift the red block, do a handover avoiding the beige and brown globe, then place it onto the blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the round globe with sturdy base, place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the round globe with sturdy base, set on blue pad.",
+    "Take the red block from the table, pass it clear of the globe for geographic reference, and put it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the Earth map globe, then place on blue pad.",
+    "Grab red block, pass it along a path clear of the round Earth globe, place onto blue pad.",
+    "Left arm grabs red block, right arm receives it away from the spinning brown globe, then sets it on blue pad.",
+    "Secure the red block, transfer it away from the brown globe on black stand, and drop it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the brown globe on black stand, then place on blue pad.",
+    "Left arm take red block, keep the pass away from the round globe with sturdy base, right arm puts on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the round globe with sturdy base, then places on blue pad.",
+    "Take the red block from the table, hand over away from the round globe with sturdy base, drop on blue pad.",
+    "Grab the red block, transfer it while steering clear of the round globe with sturdy base, place on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the spinning brown globe, place blue pad.",
+    "Pick up the red block, transfer it while staying clear of the round globe with sturdy base, and place on blue pad.",
+    "Pick the red block, keep the transfer away from the globe with curved black stand, and place it on blue pad.",
+    "Lift the red block, hand it across away from the globe with curved black stand, then place it on blue pad.",
+    "Left arm lifts red block, handover away from the Earth map globe, right arm sets it on blue pad.",
+    "Left arm grips red block, hands off away from the globe with smooth surface, right arm places on blue pad.",
+    "Use left arm to pick red block, avoid the globe for geographic reference during handoff, right arm place blue pad.",
+    "Lift the red block, do a handover avoiding the decor piece globe, then place it onto the blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe for geographic reference, place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the spinning brown globe, set on blue pad.",
+    "Take the red block from the table, pass it clear of the smooth beige globe with continents, and put it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the round Earth globe, then place on blue pad.",
+    "Grab red block, pass it along a path clear of the brown globe on black stand, place onto blue pad.",
+    "Left arm grabs red block, right arm receives it away from the beige and brown globe, then sets it on blue pad.",
+    "Secure the red block, transfer it away from the Earth map globe, and drop it onto the blue pad."
+  ],
+  "unseen": [
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad."
+  ]
+}
\ No newline at end of file
diff --git a/handover_block_wp1/handover_block_wp1/instructions/episode33.json b/handover_block_wp1/handover_block_wp1/instructions/episode33.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc46bcd33d4c888e9017fbbb66a377bf25151ed2
--- /dev/null
+++ b/handover_block_wp1/handover_block_wp1/instructions/episode33.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With left arm, lift red block, hand to right arm avoiding the globe with smooth surface, then place on blue pad.",
+    "Secure the red block, transfer it away from the Earth map globe, and drop it onto the blue pad.",
+    "Lift the red block, do a handover avoiding the round globe with sturdy base, then place it onto the blue pad.",
+    "Grab the red block, transfer it while steering clear of the globe with curved black stand, place on blue pad.",
+    "Grab red block, pass it along a path clear of the round globe with sturdy base, place onto blue pad.",
+    "Pick the red block, keep the transfer away from the decor piece globe, and place it on blue pad.",
+    "Take the red block from the table, pass it clear of the brown globe on black stand, and put it on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the round globe with sturdy base, place on blue pad.",
+    "Lift the red block, hand it across away from the round Earth globe, then place it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the Earth map globe, set on blue pad.",
+    "Left arm take red block, keep the pass away from the globe for geographic reference, right arm puts on blue pad.",
+    "Take the red block from the table, hand over away from the round globe with sturdy base, drop on blue pad.",
+    "Use left arm to pick red block, avoid the globe with smooth surface during handoff, right arm place blue pad.",
+    "Pick the red block, hand it over while keeping clear of the globe with smooth surface, then place on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe for geographic reference, place blue pad.",
+    "Left arm grabs red block, right arm receives it away from the globe with curved black stand, then sets it on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe with curved black stand, and place on blue pad.",
+    "Left arm grips red block, hands off away from the smooth beige globe with continents, right arm places on blue pad.",
+    "Left arm lifts red block, handover away from the smooth beige globe with continents, right arm sets it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe with curved black stand, then places on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe with smooth surface, then place on blue pad.",
+    "Secure the red block, transfer it away from the smooth beige globe with continents, and drop it onto the blue pad.",
+    "Lift the red block, do a handover avoiding the smooth beige globe with continents, then place it onto the blue pad.",
+    "Grab the red block, transfer it while steering clear of the smooth beige globe with continents, place on blue pad.",
+    "Grab red block, pass it along a path clear of the globe for geographic reference, place onto blue pad.",
+    "Pick the red block, keep the transfer away from the globe with smooth surface, and place it on blue pad.",
+    "Take the red block from the table, pass it clear of the decor piece globe, and put it on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe for geographic reference, place on blue pad.",
+    "Lift the red block, hand it across away from the round globe with sturdy base, then place it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the smooth beige globe with continents, set on blue pad.",
+    "Left arm take red block, keep the pass away from the beige and brown globe, right arm puts on blue pad.",
+    "Take the red block from the table, hand over away from the round globe with sturdy base, drop on blue pad.",
+    "Use left arm to pick red block, avoid the globe with smooth surface during handoff, right arm place blue pad.",
+    "Pick the red block, hand it over while keeping clear of the round globe with sturdy base, then place on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the smooth beige globe with continents, place blue pad.",
+    "Left arm grabs red block, right arm receives it away from the decor piece globe, then sets it on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the wooden globe with metal base, and place on blue pad.",
+    "Left arm grips red block, hands off away from the Earth map globe, right arm places on blue pad.",
+    "Left arm lifts red block, handover away from the globe for geographic reference, right arm sets it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the smooth beige globe with continents, then places on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the brown globe on black stand, then place on blue pad.",
+    "Secure the red block, transfer it away from the Earth map globe, and drop it onto the blue pad.",
+    "Lift the red block, do a handover avoiding the brown globe on black stand, then place it onto the blue pad.",
+    "Grab the red block, transfer it while steering clear of the globe with smooth surface, place on blue pad.",
+    "Grab red block, pass it along a path clear of the wooden globe with metal base, place onto blue pad.",
+    "Pick the red block, keep the transfer away from the round Earth globe, and place it on blue pad.",
+    "Take the red block from the table, pass it clear of the wooden globe with metal base, and put it on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the brown globe on black stand, place on blue pad.",
+    "Lift the red block, hand it across away from the spinning brown globe, then place it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe with curved black stand, set on blue pad.",
+    "Left arm take red block, keep the pass away from the spinning brown globe, right arm puts on blue pad.",
+    "Take the red block from the table, hand over away from the round globe with sturdy base, drop on blue pad.",
+    "Use left arm to pick red block, avoid the round globe with sturdy base during handoff, right arm place blue pad.",
+    "Pick the red block, hand it over while keeping clear of the spinning brown globe, then place on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the smooth beige globe with continents, place blue pad.",
+    "Left arm grabs red block, right arm receives it away from the beige and brown globe, then sets it on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the smooth beige globe with continents, and place on blue pad.",
+    "Left arm grips red block, hands off away from the spinning brown globe, right arm places on blue pad.",
+    "Left arm lifts red block, handover away from the brown globe on black stand, right arm sets it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the wooden globe with metal base, then places on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the spinning brown globe, then place on blue pad.",
+    "Secure the red block, transfer it away from the brown globe on black stand, and drop it onto the blue pad.",
+    "Lift the red block, do a handover avoiding the beige and brown globe, then place it onto the blue pad.",
+    "Grab the red block, transfer it while steering clear of the spinning brown globe, place on blue pad.",
+    "Grab red block, pass it along a path clear of the round globe with sturdy base, place onto blue pad.",
+    "Pick the red block, keep the transfer away from the decor piece globe, and place it on blue pad.",
+    "Take the red block from the table, pass it clear of the globe with smooth surface, and put it on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the smooth beige globe with continents, place on blue pad.",
+    "Lift the red block, hand it across away from the Earth map globe, then place it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the wooden globe with metal base, set on blue pad.",
+    "Left arm take red block, keep the pass away from the Earth map globe, right arm puts on blue pad.",
+    "Take the red block from the table, hand over away from the round Earth globe, drop on blue pad.",
+    "Use left arm to pick red block, avoid the spinning brown globe during handoff, right arm place blue pad.",
+    "Pick the red block, hand it over while keeping clear of the Earth map globe, then place on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the beige and brown globe, place blue pad.",
+    "Left arm grabs red block, right arm receives it away from the Earth map globe, then sets it on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe with curved black stand, and place on blue pad.",
+    "Left arm grips red block, hands off away from the spinning brown globe, right arm places on blue pad.",
+    "Left arm lifts red block, handover away from the spinning brown globe, right arm sets it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the beige and brown globe, then places on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the round Earth globe, then place on blue pad.",
+    "Secure the red block, transfer it away from the beige and brown globe, and drop it onto the blue pad.",
+    "Lift the red block, do a handover avoiding the smooth beige globe with continents, then place it onto the blue pad.",
+    "Grab the red block, transfer it while steering clear of the Earth map globe, place on blue pad.",
+    "Grab red block, pass it along a path clear of the beige and brown globe, place onto blue pad.",
+    "Pick the red block, keep the transfer away from the round globe with sturdy base, and place it on blue pad.",
+    "Take the red block from the table, pass it clear of the beige and brown globe, and put it on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the beige and brown globe, place on blue pad.",
+    "Lift the red block, hand it across away from the round globe with sturdy base, then place it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the beige and brown globe, set on blue pad.",
+    "Left arm take red block, keep the pass away from the Earth map globe, right arm puts on blue pad.",
+    "Take the red block from the table, hand over away from the spinning brown globe, drop on blue pad.",
+    "Use left arm to pick red block, avoid the round Earth globe during handoff, right arm place blue pad.",
+    "Pick the red block, hand it over while keeping clear of the beige and brown globe, then place on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the round globe with sturdy base, place blue pad.",
+    "Left arm grabs red block, right arm receives it away from the spinning brown globe, then sets it on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the spinning brown globe, and place on blue pad.",
+    "Left arm grips red block, hands off away from the brown globe on black stand, right arm places on blue pad.",
+    "Left arm lifts red block, handover away from the beige and brown globe, right arm sets it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the wooden globe with metal base, then places on blue pad."
+  ],
+  "unseen": [
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad."
+  ]
+}
\ No newline at end of file
diff --git a/handover_block_wp1/handover_block_wp1/instructions/episode34.json b/handover_block_wp1/handover_block_wp1/instructions/episode34.json
new file mode 100644
index 0000000000000000000000000000000000000000..d3ab4c2b7b2f1290c2d3a02464b6d5cd02c50d8a
--- /dev/null
+++ b/handover_block_wp1/handover_block_wp1/instructions/episode34.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Left arm take red block, keep the pass away from the compact globe with labeled countries, right arm puts on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the small sphere showing earth map, and place on blue pad.",
+    "Pick the red block, keep the transfer away from the compact globe with labeled countries, and place it on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the colorful globe on black stand, place on blue pad.",
+    "Lift the red block, do a handover avoiding the small world globe, then place it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm away from the compact globe with labeled countries, place blue pad.",
+    "Pick the red block, hand it over while keeping clear of the earth-shaped globe with black frame, then place on blue pad.",
+    "Grab the red block, transfer it while steering clear of the earth-shaped globe with black frame, place on blue pad.",
+    "Use left arm to pick red block, avoid the small sphere showing earth map during handoff, right arm place blue pad.",
+    "Left arm grips red block, hands off away from the blue globe, right arm places on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the blue sphere with countries marked, then sets it on blue pad.",
+    "Lift the red block, hand it across away from the globe featuring bright country colors, then place it on blue pad.",
+    "Left arm lifts red block, handover away from the globe sitting on curved black base, right arm sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the hand-sized globe on sturdy stand, then place on blue pad.",
+    "Secure the red block, transfer it away from the compact globe with labeled countries, and drop it onto the blue pad.",
+    "Grab red block, pass it along a path clear of the blue globe with colorful continents, place onto blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the hand-sized globe on sturdy stand, set on blue pad.",
+    "Take the red block from the table, pass it clear of the earth-shaped globe with black frame, and put it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the small sphere showing earth map, then places on blue pad.",
+    "Take the red block from the table, hand over away from the globe with curved black base, drop on blue pad.",
+    "Left arm take red block, keep the pass away from the colorful globe on black stand, right arm puts on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the small sphere showing earth map, and place on blue pad.",
+    "Pick the red block, keep the transfer away from the colorful globe on black stand, and place it on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the blue globe with colorful continents, place on blue pad.",
+    "Lift the red block, do a handover avoiding the small sphere showing earth map, then place it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm away from the blue globe with colorful continents, place blue pad.",
+    "Pick the red block, hand it over while keeping clear of the blue sphere with countries marked, then place on blue pad.",
+    "Grab the red block, transfer it while steering clear of the globe featuring bright country colors, place on blue pad.",
+    "Use left arm to pick red block, avoid the small world globe during handoff, right arm place blue pad.",
+    "Left arm grips red block, hands off away from the earth-shaped globe with black frame, right arm places on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the colorful globe on black stand, then sets it on blue pad.",
+    "Lift the red block, hand it across away from the colorful globe on black stand, then place it on blue pad.",
+    "Left arm lifts red block, handover away from the globe sitting on curved black base, right arm sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the blue globe with colorful continents, then place on blue pad.",
+    "Secure the red block, transfer it away from the globe sitting on curved black base, and drop it onto the blue pad.",
+    "Grab red block, pass it along a path clear of the blue sphere with countries marked, place onto blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the small sphere showing earth map, set on blue pad.",
+    "Take the red block from the table, pass it clear of the hand-sized globe on sturdy stand, and put it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe featuring bright country colors, then places on blue pad.",
+    "Take the red block from the table, hand over away from the earth-shaped globe with black frame, drop on blue pad.",
+    "Left arm take red block, keep the pass away from the blue globe, right arm puts on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe featuring bright country colors, and place on blue pad.",
+    "Pick the red block, keep the transfer away from the colorful globe on black stand, and place it on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the small sphere showing earth map, place on blue pad.",
+    "Lift the red block, do a handover avoiding the small world globe, then place it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm away from the blue globe, place blue pad.",
+    "Pick the red block, hand it over while keeping clear of the earth-shaped globe with black frame, then place on blue pad.",
+    "Grab the red block, transfer it while steering clear of the earth-shaped globe with black frame, place on blue pad.",
+    "Use left arm to pick red block, avoid the blue globe with colorful continents during handoff, right arm place blue pad.",
+    "Left arm grips red block, hands off away from the globe with curved black base, right arm places on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the small world globe, then sets it on blue pad.",
+    "Lift the red block, hand it across away from the compact globe with labeled countries, then place it on blue pad.",
+    "Left arm lifts red block, handover away from the small sphere showing earth map, right arm sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the colorful globe on black stand, then place on blue pad.",
+    "Secure the red block, transfer it away from the colorful globe on black stand, and drop it onto the blue pad.",
+    "Grab red block, pass it along a path clear of the colorful globe on black stand, place onto blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the earth-shaped globe with black frame, set on blue pad.",
+    "Take the red block from the table, pass it clear of the colorful globe on black stand, and put it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the small world globe, then places on blue pad.",
+    "Take the red block from the table, hand over away from the earth-shaped globe with black frame, drop on blue pad.",
+    "Left arm take red block, keep the pass away from the compact globe with labeled countries, right arm puts on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the hand-sized globe on sturdy stand, and place on blue pad.",
+    "Pick the red block, keep the transfer away from the small world globe, and place it on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the small sphere showing earth map, place on blue pad.",
+    "Lift the red block, do a handover avoiding the globe featuring bright country colors, then place it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe featuring bright country colors, place blue pad.",
+    "Pick the red block, hand it over while keeping clear of the globe with curved black base, then place on blue pad.",
+    "Grab the red block, transfer it while steering clear of the blue sphere with countries marked, place on blue pad.",
+    "Use left arm to pick red block, avoid the earth-shaped globe with black frame during handoff, right arm place blue pad.",
+    "Left arm grips red block, hands off away from the earth-shaped globe with black frame, right arm places on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the small sphere showing earth map, then sets it on blue pad.",
+    "Lift the red block, hand it across away from the hand-sized globe on sturdy stand, then place it on blue pad.",
+    "Left arm lifts red block, handover away from the small world globe, right arm sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the blue sphere with countries marked, then place on blue pad.",
+    "Secure the red block, transfer it away from the globe sitting on curved black base, and drop it onto the blue pad.",
+    "Grab red block, pass it along a path clear of the blue sphere with countries marked, place onto blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe with curved black base, set on blue pad.",
+    "Take the red block from the table, pass it clear of the globe sitting on curved black base, and put it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the earth-shaped globe with black frame, then places on blue pad.",
+    "Take the red block from the table, hand over away from the blue globe with colorful continents, drop on blue pad.",
+    "Left arm take red block, keep the pass away from the blue sphere with countries marked, right arm puts on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the colorful globe on black stand, and place on blue pad.",
+    "Pick the red block, keep the transfer away from the small world globe, and place it on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe featuring bright country colors, place on blue pad.",
+    "Lift the red block, do a handover avoiding the earth-shaped globe with black frame, then place it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe with curved black base, place blue pad.",
+    "Pick the red block, hand it over while keeping clear of the earth-shaped globe with black frame, then place on blue pad.",
+    "Grab the red block, transfer it while steering clear of the earth-shaped globe with black frame, place on blue pad.",
+    "Use left arm to pick red block, avoid the globe sitting on curved black base during handoff, right arm place blue pad.",
+    "Left arm grips red block, hands off away from the blue globe, right arm places on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the earth-shaped globe with black frame, then sets it on blue pad.",
+    "Lift the red block, hand it across away from the hand-sized globe on sturdy stand, then place it on blue pad.",
+    "Left arm lifts red block, handover away from the small world globe, right arm sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the blue globe with colorful continents, then place on blue pad.",
+    "Secure the red block, transfer it away from the hand-sized globe on sturdy stand, and drop it onto the blue pad.",
+    "Grab red block, pass it along a path clear of the globe with curved black base, place onto blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the blue globe, set on blue pad.",
+    "Take the red block from the table, pass it clear of the blue globe, and put it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the blue globe with colorful continents, then places on blue pad.",
+    "Take the red block from the table, hand over away from the small sphere showing earth map, drop on blue pad."
+  ],
+  "unseen": [
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad."
+  ]
+}
\ No newline at end of file
diff --git a/handover_block_wp1/handover_block_wp1/instructions/episode35.json b/handover_block_wp1/handover_block_wp1/instructions/episode35.json
new file mode 100644
index 0000000000000000000000000000000000000000..fcbfec912e4a49c874376f76318863f6d989689e
--- /dev/null
+++ b/handover_block_wp1/handover_block_wp1/instructions/episode35.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the red block, transfer it while steering clear of the blue globe with colorful continents, place on blue pad.",
+    "Pick the red block, keep the transfer away from the colorful globe on black stand, and place it on blue pad.",
+    "Lift the red block, hand it across away from the blue globe, then place it on blue pad.",
+    "Secure the red block, transfer it away from the globe with curved black base, and drop it onto the blue pad.",
+    "Left arm grips red block, hands off away from the hand-sized globe on sturdy stand, right arm places on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the globe sitting on curved black base, then sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the hand-sized globe on sturdy stand, then place on blue pad.",
+    "Left arm take red block, keep the pass away from the hand-sized globe on sturdy stand, right arm puts on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the compact globe with labeled countries, place on blue pad.",
+    "Take the red block from the table, pass it clear of the small sphere showing earth map, and put it on blue pad.",
+    "Left arm lifts red block, handover away from the blue sphere with countries marked, right arm sets it on blue pad.",
+    "Lift the red block, do a handover avoiding the colorful globe on black stand, then place it onto the blue pad.",
+    "Pick the red block, hand it over while keeping clear of the small sphere showing earth map, then place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the blue sphere with countries marked, set on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the colorful globe on black stand, and place on blue pad.",
+    "Take the red block from the table, hand over away from the compact globe with labeled countries, drop on blue pad.",
+    "Use left arm to pick red block, avoid the hand-sized globe on sturdy stand during handoff, right arm place blue pad.",
+    "With left arm, lift red block, hand to right arm away from the blue sphere with countries marked, place blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe sitting on curved black base, then places on blue pad.",
+    "Grab red block, pass it along a path clear of the compact globe with labeled countries, place onto blue pad.",
+    "Grab the red block, transfer it while steering clear of the globe sitting on curved black base, place on blue pad.",
+    "Pick the red block, keep the transfer away from the compact globe with labeled countries, and place it on blue pad.",
+    "Lift the red block, hand it across away from the globe featuring bright country colors, then place it on blue pad.",
+    "Secure the red block, transfer it away from the hand-sized globe on sturdy stand, and drop it onto the blue pad.",
+    "Left arm grips red block, hands off away from the earth-shaped globe with black frame, right arm places on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the globe featuring bright country colors, then sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the colorful globe on black stand, then place on blue pad.",
+    "Left arm take red block, keep the pass away from the blue sphere with countries marked, right arm puts on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the blue globe, place on blue pad.",
+    "Take the red block from the table, pass it clear of the colorful globe on black stand, and put it on blue pad.",
+    "Left arm lifts red block, handover away from the colorful globe on black stand, right arm sets it on blue pad.",
+    "Lift the red block, do a handover avoiding the small sphere showing earth map, then place it onto the blue pad.",
+    "Pick the red block, hand it over while keeping clear of the small world globe, then place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe with curved black base, set on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe sitting on curved black base, and place on blue pad.",
+    "Take the red block from the table, hand over away from the blue globe, drop on blue pad.",
+    "Use left arm to pick red block, avoid the small sphere showing earth map during handoff, right arm place blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe sitting on curved black base, place blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe sitting on curved black base, then places on blue pad.",
+    "Grab red block, pass it along a path clear of the hand-sized globe on sturdy stand, place onto blue pad.",
+    "Grab the red block, transfer it while steering clear of the globe with curved black base, place on blue pad.",
+    "Pick the red block, keep the transfer away from the blue globe with colorful continents, and place it on blue pad.",
+    "Lift the red block, hand it across away from the colorful globe on black stand, then place it on blue pad.",
+    "Secure the red block, transfer it away from the small sphere showing earth map, and drop it onto the blue pad.",
+    "Left arm grips red block, hands off away from the small world globe, right arm places on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the globe with curved black base, then sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe sitting on curved black base, then place on blue pad.",
+    "Left arm take red block, keep the pass away from the small world globe, right arm puts on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the blue sphere with countries marked, place on blue pad.",
+    "Take the red block from the table, pass it clear of the blue globe with colorful continents, and put it on blue pad.",
+    "Left arm lifts red block, handover away from the globe featuring bright country colors, right arm sets it on blue pad.",
+    "Lift the red block, do a handover avoiding the earth-shaped globe with black frame, then place it onto the blue pad.",
+    "Pick the red block, hand it over while keeping clear of the blue globe with colorful continents, then place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe featuring bright country colors, set on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the compact globe with labeled countries, and place on blue pad.",
+    "Take the red block from the table, hand over away from the globe sitting on curved black base, drop on blue pad.",
+    "Use left arm to pick red block, avoid the small sphere showing earth map during handoff, right arm place blue pad.",
+    "With left arm, lift red block, hand to right arm away from the hand-sized globe on sturdy stand, place blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the small sphere showing earth map, then places on blue pad.",
+    "Grab red block, pass it along a path clear of the colorful globe on black stand, place onto blue pad.",
+    "Grab the red block, transfer it while steering clear of the small world globe, place on blue pad.",
+    "Pick the red block, keep the transfer away from the globe with curved black base, and place it on blue pad.",
+    "Lift the red block, hand it across away from the small sphere showing earth map, then place it on blue pad.",
+    "Secure the red block, transfer it away from the hand-sized globe on sturdy stand, and drop it onto the blue pad.",
+    "Left arm grips red block, hands off away from the globe with curved black base, right arm places on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the globe featuring bright country colors, then sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the small world globe, then place on blue pad.",
+    "Left arm take red block, keep the pass away from the blue globe with colorful continents, right arm puts on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the colorful globe on black stand, place on blue pad.",
+    "Take the red block from the table, pass it clear of the colorful globe on black stand, and put it on blue pad.",
+    "Left arm lifts red block, handover away from the globe featuring bright country colors, right arm sets it on blue pad.",
+    "Lift the red block, do a handover avoiding the globe featuring bright country colors, then place it onto the blue pad.",
+    "Pick the red block, hand it over while keeping clear of the earth-shaped globe with black frame, then place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the blue globe with colorful continents, set on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the colorful globe on black stand, and place on blue pad.",
+    "Take the red block from the table, hand over away from the small world globe, drop on blue pad.",
+    "Use left arm to pick red block, avoid the blue globe during handoff, right arm place blue pad.",
+    "With left arm, lift red block, hand to right arm away from the compact globe with labeled countries, place blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the small world globe, then places on blue pad.",
+    "Grab red block, pass it along a path clear of the globe sitting on curved black base, place onto blue pad.",
+    "Grab the red block, transfer it while steering clear of the earth-shaped globe with black frame, place on blue pad.",
+    "Pick the red block, keep the transfer away from the blue globe, and place it on blue pad.",
+    "Lift the red block, hand it across away from the colorful globe on black stand, then place it on blue pad.",
+    "Secure the red block, transfer it away from the blue globe, and drop it onto the blue pad.",
+    "Left arm grips red block, hands off away from the colorful globe on black stand, right arm places on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the hand-sized globe on sturdy stand, then sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe with curved black base, then place on blue pad.",
+    "Left arm take red block, keep the pass away from the blue globe, right arm puts on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the hand-sized globe on sturdy stand, place on blue pad.",
+    "Take the red block from the table, pass it clear of the globe featuring bright country colors, and put it on blue pad.",
+    "Left arm lifts red block, handover away from the small sphere showing earth map, right arm sets it on blue pad.",
+    "Lift the red block, do a handover avoiding the blue globe, then place it onto the blue pad.",
+    "Pick the red block, hand it over while keeping clear of the small sphere showing earth map, then place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the small world globe, set on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the small world globe, and place on blue pad.",
+    "Take the red block from the table, hand over away from the blue globe with colorful continents, drop on blue pad.",
+    "Use left arm to pick red block, avoid the compact globe with labeled countries during handoff, right arm place blue pad.",
+    "With left arm, lift red block, hand to right arm away from the hand-sized globe on sturdy stand, place blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the blue globe with colorful continents, then places on blue pad.",
+    "Grab red block, pass it along a path clear of the compact globe with labeled countries, place onto blue pad."
+  ],
+  "unseen": [
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad."
+  ]
+}
\ No newline at end of file
diff --git a/handover_block_wp1/handover_block_wp1/instructions/episode36.json b/handover_block_wp1/handover_block_wp1/instructions/episode36.json
new file mode 100644
index 0000000000000000000000000000000000000000..8669a44ae838d2cf1d575c351750e69f7ad7babc
--- /dev/null
+++ b/handover_block_wp1/handover_block_wp1/instructions/episode36.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the red block from the table, hand over away from the colorful globe on black stand, drop on blue pad.",
+    "Lift the red block, do a handover avoiding the blue sphere with countries marked, then place it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm away from the earth-shaped globe with black frame, place blue pad.",
+    "Lift the red block, hand it across away from the compact globe with labeled countries, then place it on blue pad.",
+    "Pick the red block, keep the transfer away from the small world globe, and place it on blue pad.",
+    "Secure the red block, transfer it away from the small sphere showing earth map, and drop it onto the blue pad.",
+    "Use left arm to pick red block, avoid the globe sitting on curved black base during handoff, right arm place blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe featuring bright country colors, and place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe featuring bright country colors, place on blue pad.",
+    "Left arm lifts red block, handover away from the globe sitting on curved black base, right arm sets it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe featuring bright country colors, then places on blue pad.",
+    "Left arm grips red block, hands off away from the small sphere showing earth map, right arm places on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the small sphere showing earth map, then sets it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the compact globe with labeled countries, place on blue pad.",
+    "Grab red block, pass it along a path clear of the globe featuring bright country colors, place onto blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the hand-sized globe on sturdy stand, set on blue pad.",
+    "Take the red block from the table, pass it clear of the compact globe with labeled countries, and put it on blue pad.",
+    "Left arm take red block, keep the pass away from the small sphere showing earth map, right arm puts on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe sitting on curved black base, then place on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the globe sitting on curved black base, then place on blue pad.",
+    "Take the red block from the table, hand over away from the hand-sized globe on sturdy stand, drop on blue pad.",
+    "Lift the red block, do a handover avoiding the globe sitting on curved black base, then place it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm away from the blue sphere with countries marked, place blue pad.",
+    "Lift the red block, hand it across away from the globe with curved black base, then place it on blue pad.",
+    "Pick the red block, keep the transfer away from the small world globe, and place it on blue pad.",
+    "Secure the red block, transfer it away from the blue globe, and drop it onto the blue pad.",
+    "Use left arm to pick red block, avoid the blue globe with colorful continents during handoff, right arm place blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe featuring bright country colors, and place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the small sphere showing earth map, place on blue pad.",
+    "Left arm lifts red block, handover away from the compact globe with labeled countries, right arm sets it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe sitting on curved black base, then places on blue pad.",
+    "Left arm grips red block, hands off away from the small world globe, right arm places on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the compact globe with labeled countries, then sets it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the small world globe, place on blue pad.",
+    "Grab red block, pass it along a path clear of the blue globe, place onto blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the small world globe, set on blue pad.",
+    "Take the red block from the table, pass it clear of the colorful globe on black stand, and put it on blue pad.",
+    "Left arm take red block, keep the pass away from the hand-sized globe on sturdy stand, right arm puts on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the blue sphere with countries marked, then place on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the small sphere showing earth map, then place on blue pad.",
+    "Take the red block from the table, hand over away from the globe featuring bright country colors, drop on blue pad.",
+    "Lift the red block, do a handover avoiding the globe with curved black base, then place it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm away from the small sphere showing earth map, place blue pad.",
+    "Lift the red block, hand it across away from the blue sphere with countries marked, then place it on blue pad.",
+    "Pick the red block, keep the transfer away from the hand-sized globe on sturdy stand, and place it on blue pad.",
+    "Secure the red block, transfer it away from the small sphere showing earth map, and drop it onto the blue pad.",
+    "Use left arm to pick red block, avoid the hand-sized globe on sturdy stand during handoff, right arm place blue pad.",
+    "Pick up the red block, transfer it while staying clear of the colorful globe on black stand, and place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the earth-shaped globe with black frame, place on blue pad.",
+    "Left arm lifts red block, handover away from the globe featuring bright country colors, right arm sets it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the colorful globe on black stand, then places on blue pad.",
+    "Left arm grips red block, hands off away from the globe with curved black base, right arm places on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the blue globe with colorful continents, then sets it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the blue globe, place on blue pad.",
+    "Grab red block, pass it along a path clear of the small sphere showing earth map, place onto blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the small world globe, set on blue pad.",
+    "Take the red block from the table, pass it clear of the compact globe with labeled countries, and put it on blue pad.",
+    "Left arm take red block, keep the pass away from the globe sitting on curved black base, right arm puts on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the blue globe, then place on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the globe with curved black base, then place on blue pad.",
+    "Take the red block from the table, hand over away from the small sphere showing earth map, drop on blue pad.",
+    "Lift the red block, do a handover avoiding the globe with curved black base, then place it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe sitting on curved black base, place blue pad.",
+    "Lift the red block, hand it across away from the blue globe with colorful continents, then place it on blue pad.",
+    "Pick the red block, keep the transfer away from the small world globe, and place it on blue pad.",
+    "Secure the red block, transfer it away from the globe featuring bright country colors, and drop it onto the blue pad.",
+    "Use left arm to pick red block, avoid the hand-sized globe on sturdy stand during handoff, right arm place blue pad.",
+    "Pick up the red block, transfer it while staying clear of the earth-shaped globe with black frame, and place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe with curved black base, place on blue pad.",
+    "Left arm lifts red block, handover away from the hand-sized globe on sturdy stand, right arm sets it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the compact globe with labeled countries, then places on blue pad.",
+    "Left arm grips red block, hands off away from the earth-shaped globe with black frame, right arm places on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the blue sphere with countries marked, then sets it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the earth-shaped globe with black frame, place on blue pad.",
+    "Grab red block, pass it along a path clear of the blue globe, place onto blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the colorful globe on black stand, set on blue pad.",
+    "Take the red block from the table, pass it clear of the hand-sized globe on sturdy stand, and put it on blue pad.",
+    "Left arm take red block, keep the pass away from the earth-shaped globe with black frame, right arm puts on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the small sphere showing earth map, then place on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the compact globe with labeled countries, then place on blue pad.",
+    "Take the red block from the table, hand over away from the blue globe, drop on blue pad.",
+    "Lift the red block, do a handover avoiding the colorful globe on black stand, then place it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm away from the blue globe with colorful continents, place blue pad.",
+    "Lift the red block, hand it across away from the globe featuring bright country colors, then place it on blue pad.",
+    "Pick the red block, keep the transfer away from the compact globe with labeled countries, and place it on blue pad.",
+    "Secure the red block, transfer it away from the hand-sized globe on sturdy stand, and drop it onto the blue pad.",
+    "Use left arm to pick red block, avoid the blue sphere with countries marked during handoff, right arm place blue pad.",
+    "Pick up the red block, transfer it while staying clear of the small world globe, and place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the hand-sized globe on sturdy stand, place on blue pad.",
+    "Left arm lifts red block, handover away from the small sphere showing earth map, right arm sets it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the blue globe with colorful continents, then places on blue pad.",
+    "Left arm grips red block, hands off away from the globe with curved black base, right arm places on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the globe with curved black base, then sets it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the small world globe, place on blue pad.",
+    "Grab red block, pass it along a path clear of the hand-sized globe on sturdy stand, place onto blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe with curved black base, set on blue pad.",
+    "Take the red block from the table, pass it clear of the globe sitting on curved black base, and put it on blue pad.",
+    "Left arm take red block, keep the pass away from the blue globe, right arm puts on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe featuring bright country colors, then place on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the blue globe, then place on blue pad."
+  ],
+  "unseen": [
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand."
+  ]
+}
\ No newline at end of file
diff --git a/handover_block_wp1/handover_block_wp1/instructions/episode37.json b/handover_block_wp1/handover_block_wp1/instructions/episode37.json
new file mode 100644
index 0000000000000000000000000000000000000000..9899c5479d2d8c9392987bac8e2d4ab7b5b7138f
--- /dev/null
+++ b/handover_block_wp1/handover_block_wp1/instructions/episode37.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab red block, pass it along a path clear of the globe for geographic reference, place onto blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe with smooth surface, then places on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the beige and brown globe, then place on blue pad.",
+    "Use left arm to pick red block, avoid the globe with smooth surface during handoff, right arm place blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the round Earth globe, set on blue pad.",
+    "Secure the red block, transfer it away from the spinning brown globe, and drop it onto the blue pad.",
+    "Pick the red block, keep the transfer away from the globe with smooth surface, and place it on blue pad.",
+    "Lift the red block, do a handover avoiding the brown globe on black stand, then place it onto the blue pad.",
+    "Pick up the red block, transfer it while staying clear of the round globe with sturdy base, and place on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the beige and brown globe, then place on blue pad.",
+    "Left arm grips red block, hands off away from the globe for geographic reference, right arm places on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the spinning brown globe, place blue pad.",
+    "Left arm take red block, keep the pass away from the globe for geographic reference, right arm puts on blue pad.",
+    "Lift the red block, hand it across away from the round globe with sturdy base, then place it on blue pad.",
+    "Take the red block from the table, hand over away from the round globe with sturdy base, drop on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the decor piece globe, place on blue pad.",
+    "Left arm lifts red block, handover away from the wooden globe with metal base, right arm sets it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the globe with smooth surface, place on blue pad.",
+    "Take the red block from the table, pass it clear of the globe for geographic reference, and put it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the globe with curved black stand, then sets it on blue pad.",
+    "Grab red block, pass it along a path clear of the brown globe on black stand, place onto blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe with curved black stand, then places on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the Earth map globe, then place on blue pad.",
+    "Use left arm to pick red block, avoid the Earth map globe during handoff, right arm place blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the smooth beige globe with continents, set on blue pad.",
+    "Secure the red block, transfer it away from the globe for geographic reference, and drop it onto the blue pad.",
+    "Pick the red block, keep the transfer away from the smooth beige globe with continents, and place it on blue pad.",
+    "Lift the red block, do a handover avoiding the brown globe on black stand, then place it onto the blue pad.",
+    "Pick up the red block, transfer it while staying clear of the beige and brown globe, and place on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe with curved black stand, then place on blue pad.",
+    "Left arm grips red block, hands off away from the smooth beige globe with continents, right arm places on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the brown globe on black stand, place blue pad.",
+    "Left arm take red block, keep the pass away from the globe with curved black stand, right arm puts on blue pad.",
+    "Lift the red block, hand it across away from the globe for geographic reference, then place it on blue pad.",
+    "Take the red block from the table, hand over away from the Earth map globe, drop on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the smooth beige globe with continents, place on blue pad.",
+    "Left arm lifts red block, handover away from the smooth beige globe with continents, right arm sets it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the Earth map globe, place on blue pad.",
+    "Take the red block from the table, pass it clear of the brown globe on black stand, and put it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the globe with smooth surface, then sets it on blue pad.",
+    "Grab red block, pass it along a path clear of the round globe with sturdy base, place onto blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe with smooth surface, then places on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the brown globe on black stand, then place on blue pad.",
+    "Use left arm to pick red block, avoid the smooth beige globe with continents during handoff, right arm place blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the round globe with sturdy base, set on blue pad.",
+    "Secure the red block, transfer it away from the brown globe on black stand, and drop it onto the blue pad.",
+    "Pick the red block, keep the transfer away from the globe with smooth surface, and place it on blue pad.",
+    "Lift the red block, do a handover avoiding the globe with curved black stand, then place it onto the blue pad.",
+    "Pick up the red block, transfer it while staying clear of the beige and brown globe, and place on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the brown globe on black stand, then place on blue pad.",
+    "Left arm grips red block, hands off away from the globe with curved black stand, right arm places on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the spinning brown globe, place blue pad.",
+    "Left arm take red block, keep the pass away from the round Earth globe, right arm puts on blue pad.",
+    "Lift the red block, hand it across away from the decor piece globe, then place it on blue pad.",
+    "Take the red block from the table, hand over away from the decor piece globe, drop on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe with curved black stand, place on blue pad.",
+    "Left arm lifts red block, handover away from the Earth map globe, right arm sets it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the brown globe on black stand, place on blue pad.",
+    "Take the red block from the table, pass it clear of the smooth beige globe with continents, and put it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the Earth map globe, then sets it on blue pad.",
+    "Grab red block, pass it along a path clear of the round Earth globe, place onto blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the spinning brown globe, then places on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the beige and brown globe, then place on blue pad.",
+    "Use left arm to pick red block, avoid the smooth beige globe with continents during handoff, right arm place blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the wooden globe with metal base, set on blue pad.",
+    "Secure the red block, transfer it away from the decor piece globe, and drop it onto the blue pad.",
+    "Pick the red block, keep the transfer away from the globe for geographic reference, and place it on blue pad.",
+    "Lift the red block, do a handover avoiding the round Earth globe, then place it onto the blue pad.",
+    "Pick up the red block, transfer it while staying clear of the Earth map globe, and place on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe with curved black stand, then place on blue pad.",
+    "Left arm grips red block, hands off away from the globe with smooth surface, right arm places on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the round Earth globe, place blue pad.",
+    "Left arm take red block, keep the pass away from the spinning brown globe, right arm puts on blue pad.",
+    "Lift the red block, hand it across away from the wooden globe with metal base, then place it on blue pad.",
+    "Take the red block from the table, hand over away from the round Earth globe, drop on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the decor piece globe, place on blue pad.",
+    "Left arm lifts red block, handover away from the decor piece globe, right arm sets it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the smooth beige globe with continents, place on blue pad.",
+    "Take the red block from the table, pass it clear of the round globe with sturdy base, and put it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the spinning brown globe, then sets it on blue pad.",
+    "Grab red block, pass it along a path clear of the globe with smooth surface, place onto blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the round Earth globe, then places on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the round Earth globe, then place on blue pad.",
+    "Use left arm to pick red block, avoid the globe with smooth surface during handoff, right arm place blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe for geographic reference, set on blue pad.",
+    "Secure the red block, transfer it away from the wooden globe with metal base, and drop it onto the blue pad.",
+    "Pick the red block, keep the transfer away from the wooden globe with metal base, and place it on blue pad.",
+    "Lift the red block, do a handover avoiding the globe with smooth surface, then place it onto the blue pad.",
+    "Pick up the red block, transfer it while staying clear of the smooth beige globe with continents, and place on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the decor piece globe, then place on blue pad.",
+    "Left arm grips red block, hands off away from the beige and brown globe, right arm places on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the round Earth globe, place blue pad.",
+    "Left arm take red block, keep the pass away from the smooth beige globe with continents, right arm puts on blue pad.",
+    "Lift the red block, hand it across away from the round globe with sturdy base, then place it on blue pad.",
+    "Take the red block from the table, hand over away from the globe for geographic reference, drop on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the round Earth globe, place on blue pad.",
+    "Left arm lifts red block, handover away from the globe for geographic reference, right arm sets it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the decor piece globe, place on blue pad.",
+    "Take the red block from the table, pass it clear of the wooden globe with metal base, and put it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the spinning brown globe, then sets it on blue pad."
+  ],
+  "unseen": [
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe."
+  ]
+}
\ No newline at end of file
diff --git a/handover_block_wp1/handover_block_wp1/instructions/episode38.json b/handover_block_wp1/handover_block_wp1/instructions/episode38.json
new file mode 100644
index 0000000000000000000000000000000000000000..3eaa12239decb0dbac4b7ded5d1287a02dad68fd
--- /dev/null
+++ b/handover_block_wp1/handover_block_wp1/instructions/episode38.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the red block from the table, pass it clear of the decor piece globe, and put it on blue pad.",
+    "Grab red block, pass it along a path clear of the decor piece globe, place onto blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe with curved black stand, then places on blue pad.",
+    "Take the red block from the table, hand over away from the spinning brown globe, drop on blue pad.",
+    "Pick the red block, keep the transfer away from the decor piece globe, and place it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the globe for geographic reference, then sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the wooden globe with metal base, then place on blue pad.",
+    "Use left arm to pick red block, avoid the globe for geographic reference during handoff, right arm place blue pad.",
+    "Left arm lifts red block, handover away from the brown globe on black stand, right arm sets it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe for geographic reference, set on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the round globe with sturdy base, and place on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the brown globe on black stand, then place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the wooden globe with metal base, place on blue pad.",
+    "Grab the red block, transfer it while steering clear of the beige and brown globe, place on blue pad.",
+    "Secure the red block, transfer it away from the wooden globe with metal base, and drop it onto the blue pad.",
+    "Left arm grips red block, hands off away from the Earth map globe, right arm places on blue pad.",
+    "Lift the red block, do a handover avoiding the decor piece globe, then place it onto the blue pad.",
+    "Lift the red block, hand it across away from the globe with smooth surface, then place it on blue pad.",
+    "Left arm take red block, keep the pass away from the smooth beige globe with continents, right arm puts on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the spinning brown globe, place blue pad.",
+    "Take the red block from the table, pass it clear of the spinning brown globe, and put it on blue pad.",
+    "Grab red block, pass it along a path clear of the beige and brown globe, place onto blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe for geographic reference, then places on blue pad.",
+    "Take the red block from the table, hand over away from the Earth map globe, drop on blue pad.",
+    "Pick the red block, keep the transfer away from the globe with smooth surface, and place it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the beige and brown globe, then sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe for geographic reference, then place on blue pad.",
+    "Use left arm to pick red block, avoid the wooden globe with metal base during handoff, right arm place blue pad.",
+    "Left arm lifts red block, handover away from the round globe with sturdy base, right arm sets it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the brown globe on black stand, set on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the round Earth globe, and place on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the round globe with sturdy base, then place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe with smooth surface, place on blue pad.",
+    "Grab the red block, transfer it while steering clear of the round globe with sturdy base, place on blue pad.",
+    "Secure the red block, transfer it away from the round Earth globe, and drop it onto the blue pad.",
+    "Left arm grips red block, hands off away from the globe for geographic reference, right arm places on blue pad.",
+    "Lift the red block, do a handover avoiding the globe with smooth surface, then place it onto the blue pad.",
+    "Lift the red block, hand it across away from the round Earth globe, then place it on blue pad.",
+    "Left arm take red block, keep the pass away from the brown globe on black stand, right arm puts on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the Earth map globe, place blue pad.",
+    "Take the red block from the table, pass it clear of the decor piece globe, and put it on blue pad.",
+    "Grab red block, pass it along a path clear of the decor piece globe, place onto blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the Earth map globe, then places on blue pad.",
+    "Take the red block from the table, hand over away from the globe with smooth surface, drop on blue pad.",
+    "Pick the red block, keep the transfer away from the Earth map globe, and place it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the round globe with sturdy base, then sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the round globe with sturdy base, then place on blue pad.",
+    "Use left arm to pick red block, avoid the decor piece globe during handoff, right arm place blue pad.",
+    "Left arm lifts red block, handover away from the globe with smooth surface, right arm sets it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the round Earth globe, set on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the spinning brown globe, and place on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the globe with smooth surface, then place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the brown globe on black stand, place on blue pad.",
+    "Grab the red block, transfer it while steering clear of the smooth beige globe with continents, place on blue pad.",
+    "Secure the red block, transfer it away from the brown globe on black stand, and drop it onto the blue pad.",
+    "Left arm grips red block, hands off away from the decor piece globe, right arm places on blue pad.",
+    "Lift the red block, do a handover avoiding the wooden globe with metal base, then place it onto the blue pad.",
+    "Lift the red block, hand it across away from the wooden globe with metal base, then place it on blue pad.",
+    "Left arm take red block, keep the pass away from the globe for geographic reference, right arm puts on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the spinning brown globe, place blue pad.",
+    "Take the red block from the table, pass it clear of the wooden globe with metal base, and put it on blue pad.",
+    "Grab red block, pass it along a path clear of the round globe with sturdy base, place onto blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the Earth map globe, then places on blue pad.",
+    "Take the red block from the table, hand over away from the globe with smooth surface, drop on blue pad.",
+    "Pick the red block, keep the transfer away from the wooden globe with metal base, and place it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the round Earth globe, then sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the smooth beige globe with continents, then place on blue pad.",
+    "Use left arm to pick red block, avoid the brown globe on black stand during handoff, right arm place blue pad.",
+    "Left arm lifts red block, handover away from the round globe with sturdy base, right arm sets it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe with curved black stand, set on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the smooth beige globe with continents, and place on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the wooden globe with metal base, then place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the round Earth globe, place on blue pad.",
+    "Grab the red block, transfer it while steering clear of the smooth beige globe with continents, place on blue pad.",
+    "Secure the red block, transfer it away from the round Earth globe, and drop it onto the blue pad.",
+    "Left arm grips red block, hands off away from the round globe with sturdy base, right arm places on blue pad.",
+    "Lift the red block, do a handover avoiding the decor piece globe, then place it onto the blue pad.",
+    "Lift the red block, hand it across away from the beige and brown globe, then place it on blue pad.",
+    "Left arm take red block, keep the pass away from the round Earth globe, right arm puts on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe with smooth surface, place blue pad.",
+    "Take the red block from the table, pass it clear of the round globe with sturdy base, and put it on blue pad.",
+    "Grab red block, pass it along a path clear of the brown globe on black stand, place onto blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe with smooth surface, then places on blue pad.",
+    "Take the red block from the table, hand over away from the globe with smooth surface, drop on blue pad.",
+    "Pick the red block, keep the transfer away from the beige and brown globe, and place it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the round globe with sturdy base, then sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe for geographic reference, then place on blue pad.",
+    "Use left arm to pick red block, avoid the globe with curved black stand during handoff, right arm place blue pad.",
+    "Left arm lifts red block, handover away from the brown globe on black stand, right arm sets it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the Earth map globe, set on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the round globe with sturdy base, and place on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the spinning brown globe, then place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the beige and brown globe, place on blue pad.",
+    "Grab the red block, transfer it while steering clear of the brown globe on black stand, place on blue pad.",
+    "Secure the red block, transfer it away from the globe with smooth surface, and drop it onto the blue pad.",
+    "Left arm grips red block, hands off away from the spinning brown globe, right arm places on blue pad.",
+    "Lift the red block, do a handover avoiding the brown globe on black stand, then place it onto the blue pad.",
+    "Lift the red block, hand it across away from the spinning brown globe, then place it on blue pad.",
+    "Left arm take red block, keep the pass away from the spinning brown globe, right arm puts on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the round Earth globe, place blue pad."
+  ],
+  "unseen": [
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad."
+  ]
+}
\ No newline at end of file
diff --git a/handover_block_wp1/handover_block_wp1/instructions/episode39.json b/handover_block_wp1/handover_block_wp1/instructions/episode39.json
new file mode 100644
index 0000000000000000000000000000000000000000..610635dbbae9e7aaa0bf6ae18c85b46f52839d94
--- /dev/null
+++ b/handover_block_wp1/handover_block_wp1/instructions/episode39.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Left arm grabs red block, right arm receives it away from the globe featuring bright country colors, then sets it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe sitting on curved black base, set on blue pad.",
+    "Left arm lifts red block, handover away from the earth-shaped globe with black frame, right arm sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the compact globe with labeled countries, place blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the blue globe with colorful continents, then places on blue pad.",
+    "Left arm take red block, keep the pass away from the hand-sized globe on sturdy stand, right arm puts on blue pad.",
+    "Left arm grips red block, hands off away from the blue sphere with countries marked, right arm places on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe featuring bright country colors, place on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the blue globe with colorful continents, then place on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the earth-shaped globe with black frame, then place on blue pad.",
+    "Secure the red block, transfer it away from the earth-shaped globe with black frame, and drop it onto the blue pad.",
+    "Grab red block, pass it along a path clear of the compact globe with labeled countries, place onto blue pad.",
+    "Pick up the red block, transfer it while staying clear of the colorful globe on black stand, and place on blue pad.",
+    "Grab the red block, transfer it while steering clear of the small world globe, place on blue pad.",
+    "Use left arm to pick red block, avoid the compact globe with labeled countries during handoff, right arm place blue pad.",
+    "Lift the red block, hand it across away from the blue globe, then place it on blue pad.",
+    "Pick the red block, keep the transfer away from the small world globe, and place it on blue pad.",
+    "Take the red block from the table, hand over away from the blue globe, drop on blue pad.",
+    "Lift the red block, do a handover avoiding the blue globe, then place it onto the blue pad.",
+    "Take the red block from the table, pass it clear of the earth-shaped globe with black frame, and put it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the globe with curved black base, then sets it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe sitting on curved black base, set on blue pad.",
+    "Left arm lifts red block, handover away from the globe featuring bright country colors, right arm sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the earth-shaped globe with black frame, place blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the compact globe with labeled countries, then places on blue pad.",
+    "Left arm take red block, keep the pass away from the globe sitting on curved black base, right arm puts on blue pad.",
+    "Left arm grips red block, hands off away from the compact globe with labeled countries, right arm places on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe sitting on curved black base, place on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the colorful globe on black stand, then place on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the small world globe, then place on blue pad.",
+    "Secure the red block, transfer it away from the globe with curved black base, and drop it onto the blue pad.",
+    "Grab red block, pass it along a path clear of the globe with curved black base, place onto blue pad.",
+    "Pick up the red block, transfer it while staying clear of the blue globe, and place on blue pad.",
+    "Grab the red block, transfer it while steering clear of the blue sphere with countries marked, place on blue pad.",
+    "Use left arm to pick red block, avoid the globe with curved black base during handoff, right arm place blue pad.",
+    "Lift the red block, hand it across away from the globe sitting on curved black base, then place it on blue pad.",
+    "Pick the red block, keep the transfer away from the blue globe with colorful continents, and place it on blue pad.",
+    "Take the red block from the table, hand over away from the small sphere showing earth map, drop on blue pad.",
+    "Lift the red block, do a handover avoiding the compact globe with labeled countries, then place it onto the blue pad.",
+    "Take the red block from the table, pass it clear of the globe sitting on curved black base, and put it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the blue globe, then sets it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the blue sphere with countries marked, set on blue pad.",
+    "Left arm lifts red block, handover away from the blue globe with colorful continents, right arm sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the colorful globe on black stand, place blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the earth-shaped globe with black frame, then places on blue pad.",
+    "Left arm take red block, keep the pass away from the blue globe, right arm puts on blue pad.",
+    "Left arm grips red block, hands off away from the compact globe with labeled countries, right arm places on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe featuring bright country colors, place on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the globe featuring bright country colors, then place on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the compact globe with labeled countries, then place on blue pad.",
+    "Secure the red block, transfer it away from the globe sitting on curved black base, and drop it onto the blue pad.",
+    "Grab red block, pass it along a path clear of the globe with curved black base, place onto blue pad.",
+    "Pick up the red block, transfer it while staying clear of the hand-sized globe on sturdy stand, and place on blue pad.",
+    "Grab the red block, transfer it while steering clear of the small world globe, place on blue pad.",
+    "Use left arm to pick red block, avoid the globe featuring bright country colors during handoff, right arm place blue pad.",
+    "Lift the red block, hand it across away from the blue sphere with countries marked, then place it on blue pad.",
+    "Pick the red block, keep the transfer away from the globe with curved black base, and place it on blue pad.",
+    "Take the red block from the table, hand over away from the earth-shaped globe with black frame, drop on blue pad.",
+    "Lift the red block, do a handover avoiding the globe with curved black base, then place it onto the blue pad.",
+    "Take the red block from the table, pass it clear of the small world globe, and put it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the globe with curved black base, then sets it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe featuring bright country colors, set on blue pad.",
+    "Left arm lifts red block, handover away from the earth-shaped globe with black frame, right arm sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe sitting on curved black base, place blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the small sphere showing earth map, then places on blue pad.",
+    "Left arm take red block, keep the pass away from the hand-sized globe on sturdy stand, right arm puts on blue pad.",
+    "Left arm grips red block, hands off away from the globe featuring bright country colors, right arm places on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the small sphere showing earth map, place on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the blue sphere with countries marked, then place on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the blue globe with colorful continents, then place on blue pad.",
+    "Secure the red block, transfer it away from the blue globe with colorful continents, and drop it onto the blue pad.",
+    "Grab red block, pass it along a path clear of the blue globe, place onto blue pad.",
+    "Pick up the red block, transfer it while staying clear of the compact globe with labeled countries, and place on blue pad.",
+    "Grab the red block, transfer it while steering clear of the colorful globe on black stand, place on blue pad.",
+    "Use left arm to pick red block, avoid the globe with curved black base during handoff, right arm place blue pad.",
+    "Lift the red block, hand it across away from the blue sphere with countries marked, then place it on blue pad.",
+    "Pick the red block, keep the transfer away from the blue sphere with countries marked, and place it on blue pad.",
+    "Take the red block from the table, hand over away from the blue globe, drop on blue pad.",
+    "Lift the red block, do a handover avoiding the blue sphere with countries marked, then place it onto the blue pad.",
+    "Take the red block from the table, pass it clear of the globe with curved black base, and put it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the small sphere showing earth map, then sets it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the small world globe, set on blue pad.",
+    "Left arm lifts red block, handover away from the small world globe, right arm sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the blue sphere with countries marked, place blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the hand-sized globe on sturdy stand, then places on blue pad.",
+    "Left arm take red block, keep the pass away from the blue globe with colorful continents, right arm puts on blue pad.",
+    "Left arm grips red block, hands off away from the globe with curved black base, right arm places on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the blue globe, place on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the hand-sized globe on sturdy stand, then place on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the hand-sized globe on sturdy stand, then place on blue pad.",
+    "Secure the red block, transfer it away from the compact globe with labeled countries, and drop it onto the blue pad.",
+    "Grab red block, pass it along a path clear of the earth-shaped globe with black frame, place onto blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe sitting on curved black base, and place on blue pad.",
+    "Grab the red block, transfer it while steering clear of the blue globe with colorful continents, place on blue pad.",
+    "Use left arm to pick red block, avoid the compact globe with labeled countries during handoff, right arm place blue pad.",
+    "Lift the red block, hand it across away from the blue sphere with countries marked, then place it on blue pad.",
+    "Pick the red block, keep the transfer away from the small sphere showing earth map, and place it on blue pad.",
+    "Take the red block from the table, hand over away from the globe featuring bright country colors, drop on blue pad.",
+    "Lift the red block, do a handover avoiding the colorful globe on black stand, then place it onto the blue pad.",
+    "Take the red block from the table, pass it clear of the globe featuring bright country colors, and put it on blue pad."
+  ],
+  "unseen": [
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad."
+  ]
+}
\ No newline at end of file
diff --git a/handover_block_wp1/handover_block_wp1/instructions/episode4.json b/handover_block_wp1/handover_block_wp1/instructions/episode4.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d844bdce07d5a879be06f316740872d652e91c2
--- /dev/null
+++ b/handover_block_wp1/handover_block_wp1/instructions/episode4.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the red block, do a handover avoiding the spinning brown globe, then place it onto the blue pad.",
+    "Grab the red block, transfer it while steering clear of the smooth beige globe with continents, place on blue pad.",
+    "Take the red block from the table, pass it clear of the Earth map globe, and put it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the round globe with sturdy base, then place on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe for geographic reference, then places on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe with smooth surface, place on blue pad.",
+    "Left arm grips red block, hands off away from the wooden globe with metal base, right arm places on blue pad.",
+    "Lift the red block, hand it across away from the globe with curved black stand, then place it on blue pad.",
+    "Grab red block, pass it along a path clear of the globe for geographic reference, place onto blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the Earth map globe, set on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the brown globe on black stand, then sets it on blue pad.",
+    "Left arm lifts red block, handover away from the smooth beige globe with continents, right arm sets it on blue pad.",
+    "Take the red block from the table, hand over away from the beige and brown globe, drop on blue pad.",
+    "Pick the red block, keep the transfer away from the brown globe on black stand, and place it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the wooden globe with metal base, then place on blue pad.",
+    "Secure the red block, transfer it away from the globe for geographic reference, and drop it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm away from the round globe with sturdy base, place blue pad.",
+    "Left arm take red block, keep the pass away from the wooden globe with metal base, right arm puts on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the Earth map globe, and place on blue pad.",
+    "Use left arm to pick red block, avoid the wooden globe with metal base during handoff, right arm place blue pad.",
+    "Lift the red block, do a handover avoiding the globe with curved black stand, then place it onto the blue pad.",
+    "Grab the red block, transfer it while steering clear of the globe with curved black stand, place on blue pad.",
+    "Take the red block from the table, pass it clear of the smooth beige globe with continents, and put it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the wooden globe with metal base, then place on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the smooth beige globe with continents, then places on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the brown globe on black stand, place on blue pad.",
+    "Left arm grips red block, hands off away from the round Earth globe, right arm places on blue pad.",
+    "Lift the red block, hand it across away from the smooth beige globe with continents, then place it on blue pad.",
+    "Grab red block, pass it along a path clear of the wooden globe with metal base, place onto blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the wooden globe with metal base, set on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the brown globe on black stand, then sets it on blue pad.",
+    "Left arm lifts red block, handover away from the globe with curved black stand, right arm sets it on blue pad.",
+    "Take the red block from the table, hand over away from the brown globe on black stand, drop on blue pad.",
+    "Pick the red block, keep the transfer away from the wooden globe with metal base, and place it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the smooth beige globe with continents, then place on blue pad.",
+    "Secure the red block, transfer it away from the globe for geographic reference, and drop it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm away from the brown globe on black stand, place blue pad.",
+    "Left arm take red block, keep the pass away from the decor piece globe, right arm puts on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe with smooth surface, and place on blue pad.",
+    "Use left arm to pick red block, avoid the round Earth globe during handoff, right arm place blue pad.",
+    "Lift the red block, do a handover avoiding the wooden globe with metal base, then place it onto the blue pad.",
+    "Grab the red block, transfer it while steering clear of the Earth map globe, place on blue pad.",
+    "Take the red block from the table, pass it clear of the beige and brown globe, and put it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe with smooth surface, then place on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the decor piece globe, then places on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe for geographic reference, place on blue pad.",
+    "Left arm grips red block, hands off away from the decor piece globe, right arm places on blue pad.",
+    "Lift the red block, hand it across away from the beige and brown globe, then place it on blue pad.",
+    "Grab red block, pass it along a path clear of the decor piece globe, place onto blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe with smooth surface, set on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the wooden globe with metal base, then sets it on blue pad.",
+    "Left arm lifts red block, handover away from the Earth map globe, right arm sets it on blue pad.",
+    "Take the red block from the table, hand over away from the globe for geographic reference, drop on blue pad.",
+    "Pick the red block, keep the transfer away from the decor piece globe, and place it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the beige and brown globe, then place on blue pad.",
+    "Secure the red block, transfer it away from the decor piece globe, and drop it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm away from the smooth beige globe with continents, place blue pad.",
+    "Left arm take red block, keep the pass away from the spinning brown globe, right arm puts on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the brown globe on black stand, and place on blue pad.",
+    "Use left arm to pick red block, avoid the spinning brown globe during handoff, right arm place blue pad.",
+    "Lift the red block, do a handover avoiding the spinning brown globe, then place it onto the blue pad.",
+    "Grab the red block, transfer it while steering clear of the round globe with sturdy base, place on blue pad.",
+    "Take the red block from the table, pass it clear of the round Earth globe, and put it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe for geographic reference, then place on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the beige and brown globe, then places on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the smooth beige globe with continents, place on blue pad.",
+    "Left arm grips red block, hands off away from the round Earth globe, right arm places on blue pad.",
+    "Lift the red block, hand it across away from the globe for geographic reference, then place it on blue pad.",
+    "Grab red block, pass it along a path clear of the globe with curved black stand, place onto blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the spinning brown globe, set on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the decor piece globe, then sets it on blue pad.",
+    "Left arm lifts red block, handover away from the round globe with sturdy base, right arm sets it on blue pad.",
+    "Take the red block from the table, hand over away from the wooden globe with metal base, drop on blue pad.",
+    "Pick the red block, keep the transfer away from the globe with curved black stand, and place it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the globe with smooth surface, then place on blue pad.",
+    "Secure the red block, transfer it away from the smooth beige globe with continents, and drop it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm away from the brown globe on black stand, place blue pad.",
+    "Left arm take red block, keep the pass away from the brown globe on black stand, right arm puts on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the smooth beige globe with continents, and place on blue pad.",
+    "Use left arm to pick red block, avoid the spinning brown globe during handoff, right arm place blue pad.",
+    "Lift the red block, do a handover avoiding the spinning brown globe, then place it onto the blue pad.",
+    "Grab the red block, transfer it while steering clear of the round Earth globe, place on blue pad.",
+    "Take the red block from the table, pass it clear of the smooth beige globe with continents, and put it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the round globe with sturdy base, then place on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the wooden globe with metal base, then places on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the beige and brown globe, place on blue pad.",
+    "Left arm grips red block, hands off away from the globe for geographic reference, right arm places on blue pad.",
+    "Lift the red block, hand it across away from the smooth beige globe with continents, then place it on blue pad.",
+    "Grab red block, pass it along a path clear of the brown globe on black stand, place onto blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the Earth map globe, set on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the beige and brown globe, then sets it on blue pad.",
+    "Left arm lifts red block, handover away from the beige and brown globe, right arm sets it on blue pad.",
+    "Take the red block from the table, hand over away from the globe with curved black stand, drop on blue pad.",
+    "Pick the red block, keep the transfer away from the globe with curved black stand, and place it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the globe with curved black stand, then place on blue pad.",
+    "Secure the red block, transfer it away from the globe for geographic reference, and drop it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm away from the brown globe on black stand, place blue pad.",
+    "Left arm take red block, keep the pass away from the brown globe on black stand, right arm puts on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe with curved black stand, and place on blue pad.",
+    "Use left arm to pick red block, avoid the beige and brown globe during handoff, right arm place blue pad."
+  ],
+  "unseen": [
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad."
+  ]
+}
\ No newline at end of file
diff --git a/handover_block_wp1/handover_block_wp1/instructions/episode40.json b/handover_block_wp1/handover_block_wp1/instructions/episode40.json
new file mode 100644
index 0000000000000000000000000000000000000000..64ce0a766cda407f3363a9d9c57fc54100b659d7
--- /dev/null
+++ b/handover_block_wp1/handover_block_wp1/instructions/episode40.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the red block from the table, pass it clear of the blue sphere with countries marked, and put it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the globe sitting on curved black base, place on blue pad.",
+    "Use left arm to pick red block, avoid the small sphere showing earth map during handoff, right arm place blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the small world globe, then place on blue pad.",
+    "Pick the red block, keep the transfer away from the hand-sized globe on sturdy stand, and place it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the globe with curved black base, then sets it on blue pad.",
+    "Grab red block, pass it along a path clear of the globe featuring bright country colors, place onto blue pad.",
+    "Left arm lifts red block, handover away from the compact globe with labeled countries, right arm sets it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the small world globe, set on blue pad.",
+    "Lift the red block, hand it across away from the compact globe with labeled countries, then place it on blue pad.",
+    "Take the red block from the table, hand over away from the globe with curved black base, drop on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the blue globe with colorful continents, then places on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the earth-shaped globe with black frame, place on blue pad.",
+    "Left arm grips red block, hands off away from the globe with curved black base, right arm places on blue pad.",
+    "Lift the red block, do a handover avoiding the earth-shaped globe with black frame, then place it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm away from the earth-shaped globe with black frame, place blue pad.",
+    "Left arm take red block, keep the pass away from the colorful globe on black stand, right arm puts on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the earth-shaped globe with black frame, then place on blue pad.",
+    "Secure the red block, transfer it away from the globe featuring bright country colors, and drop it onto the blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe sitting on curved black base, and place on blue pad.",
+    "Take the red block from the table, pass it clear of the compact globe with labeled countries, and put it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the blue globe with colorful continents, place on blue pad.",
+    "Use left arm to pick red block, avoid the globe featuring bright country colors during handoff, right arm place blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe with curved black base, then place on blue pad.",
+    "Pick the red block, keep the transfer away from the hand-sized globe on sturdy stand, and place it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the globe featuring bright country colors, then sets it on blue pad.",
+    "Grab red block, pass it along a path clear of the small sphere showing earth map, place onto blue pad.",
+    "Left arm lifts red block, handover away from the blue globe with colorful continents, right arm sets it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the blue globe, set on blue pad.",
+    "Lift the red block, hand it across away from the earth-shaped globe with black frame, then place it on blue pad.",
+    "Take the red block from the table, hand over away from the blue globe, drop on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the blue globe with colorful continents, then places on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the small world globe, place on blue pad.",
+    "Left arm grips red block, hands off away from the hand-sized globe on sturdy stand, right arm places on blue pad.",
+    "Lift the red block, do a handover avoiding the earth-shaped globe with black frame, then place it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm away from the colorful globe on black stand, place blue pad.",
+    "Left arm take red block, keep the pass away from the small sphere showing earth map, right arm puts on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the small world globe, then place on blue pad.",
+    "Secure the red block, transfer it away from the globe featuring bright country colors, and drop it onto the blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe featuring bright country colors, and place on blue pad.",
+    "Take the red block from the table, pass it clear of the globe sitting on curved black base, and put it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the globe featuring bright country colors, place on blue pad.",
+    "Use left arm to pick red block, avoid the small sphere showing earth map during handoff, right arm place blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the small world globe, then place on blue pad.",
+    "Pick the red block, keep the transfer away from the colorful globe on black stand, and place it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the colorful globe on black stand, then sets it on blue pad.",
+    "Grab red block, pass it along a path clear of the blue globe, place onto blue pad.",
+    "Left arm lifts red block, handover away from the compact globe with labeled countries, right arm sets it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe featuring bright country colors, set on blue pad.",
+    "Lift the red block, hand it across away from the globe sitting on curved black base, then place it on blue pad.",
+    "Take the red block from the table, hand over away from the compact globe with labeled countries, drop on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the compact globe with labeled countries, then places on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the hand-sized globe on sturdy stand, place on blue pad.",
+    "Left arm grips red block, hands off away from the blue globe with colorful continents, right arm places on blue pad.",
+    "Lift the red block, do a handover avoiding the blue globe, then place it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm away from the compact globe with labeled countries, place blue pad.",
+    "Left arm take red block, keep the pass away from the globe sitting on curved black base, right arm puts on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the globe sitting on curved black base, then place on blue pad.",
+    "Secure the red block, transfer it away from the blue sphere with countries marked, and drop it onto the blue pad.",
+    "Pick up the red block, transfer it while staying clear of the hand-sized globe on sturdy stand, and place on blue pad.",
+    "Take the red block from the table, pass it clear of the hand-sized globe on sturdy stand, and put it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the small sphere showing earth map, place on blue pad.",
+    "Use left arm to pick red block, avoid the small sphere showing earth map during handoff, right arm place blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe featuring bright country colors, then place on blue pad.",
+    "Pick the red block, keep the transfer away from the blue globe, and place it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the globe sitting on curved black base, then sets it on blue pad.",
+    "Grab red block, pass it along a path clear of the blue globe with colorful continents, place onto blue pad.",
+    "Left arm lifts red block, handover away from the hand-sized globe on sturdy stand, right arm sets it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the blue globe with colorful continents, set on blue pad.",
+    "Lift the red block, hand it across away from the compact globe with labeled countries, then place it on blue pad.",
+    "Take the red block from the table, hand over away from the compact globe with labeled countries, drop on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe sitting on curved black base, then places on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the blue globe, place on blue pad.",
+    "Left arm grips red block, hands off away from the blue globe with colorful continents, right arm places on blue pad.",
+    "Lift the red block, do a handover avoiding the blue sphere with countries marked, then place it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe sitting on curved black base, place blue pad.",
+    "Left arm take red block, keep the pass away from the blue sphere with countries marked, right arm puts on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the hand-sized globe on sturdy stand, then place on blue pad.",
+    "Secure the red block, transfer it away from the blue sphere with countries marked, and drop it onto the blue pad.",
+    "Pick up the red block, transfer it while staying clear of the small sphere showing earth map, and place on blue pad.",
+    "Take the red block from the table, pass it clear of the hand-sized globe on sturdy stand, and put it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the earth-shaped globe with black frame, place on blue pad.",
+    "Use left arm to pick red block, avoid the blue globe during handoff, right arm place blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the blue sphere with countries marked, then place on blue pad.",
+    "Pick the red block, keep the transfer away from the small world globe, and place it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the earth-shaped globe with black frame, then sets it on blue pad.",
+    "Grab red block, pass it along a path clear of the globe sitting on curved black base, place onto blue pad.",
+    "Left arm lifts red block, handover away from the globe with curved black base, right arm sets it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the earth-shaped globe with black frame, set on blue pad.",
+    "Lift the red block, hand it across away from the blue globe, then place it on blue pad.",
+    "Take the red block from the table, hand over away from the globe sitting on curved black base, drop on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe with curved black base, then places on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe sitting on curved black base, place on blue pad.",
+    "Left arm grips red block, hands off away from the earth-shaped globe with black frame, right arm places on blue pad.",
+    "Lift the red block, do a handover avoiding the blue globe with colorful continents, then place it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm away from the blue globe, place blue pad.",
+    "Left arm take red block, keep the pass away from the colorful globe on black stand, right arm puts on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the small sphere showing earth map, then place on blue pad.",
+    "Secure the red block, transfer it away from the blue globe with colorful continents, and drop it onto the blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe sitting on curved black base, and place on blue pad."
+  ],
+  "unseen": [
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand."
+  ]
+}
\ No newline at end of file
diff --git a/handover_block_wp1/handover_block_wp1/instructions/episode41.json b/handover_block_wp1/handover_block_wp1/instructions/episode41.json
new file mode 100644
index 0000000000000000000000000000000000000000..c9b239c4fe0585b5d9a608e237cd6c5573aa4260
--- /dev/null
+++ b/handover_block_wp1/handover_block_wp1/instructions/episode41.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use left arm to pick red block, avoid the beige and brown globe during handoff, right arm place blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the wooden globe with metal base, place on blue pad.",
+    "Left arm take red block, keep the pass away from the beige and brown globe, right arm puts on blue pad.",
+    "Take the red block from the table, pass it clear of the globe with curved black stand, and put it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the round Earth globe, then sets it on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the Earth map globe, and place on blue pad.",
+    "Lift the red block, hand it across away from the round globe with sturdy base, then place it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the round globe with sturdy base, then places on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the beige and brown globe, set on blue pad.",
+    "Left arm grips red block, hands off away from the globe with smooth surface, right arm places on blue pad.",
+    "Take the red block from the table, hand over away from the decor piece globe, drop on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the wooden globe with metal base, then place on blue pad.",
+    "Pick the red block, keep the transfer away from the spinning brown globe, and place it on blue pad.",
+    "Grab red block, pass it along a path clear of the round Earth globe, place onto blue pad.",
+    "Pick the red block, hand it over while keeping clear of the Earth map globe, then place on blue pad.",
+    "Left arm lifts red block, handover away from the round globe with sturdy base, right arm sets it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the spinning brown globe, place on blue pad.",
+    "Lift the red block, do a handover avoiding the Earth map globe, then place it onto the blue pad.",
+    "Secure the red block, transfer it away from the round Earth globe, and drop it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm away from the wooden globe with metal base, place blue pad.",
+    "Use left arm to pick red block, avoid the Earth map globe during handoff, right arm place blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe with curved black stand, place on blue pad.",
+    "Left arm take red block, keep the pass away from the globe with curved black stand, right arm puts on blue pad.",
+    "Take the red block from the table, pass it clear of the beige and brown globe, and put it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the smooth beige globe with continents, then sets it on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe with curved black stand, and place on blue pad.",
+    "Lift the red block, hand it across away from the beige and brown globe, then place it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe with smooth surface, then places on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe for geographic reference, set on blue pad.",
+    "Left arm grips red block, hands off away from the globe with curved black stand, right arm places on blue pad.",
+    "Take the red block from the table, hand over away from the round globe with sturdy base, drop on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the round Earth globe, then place on blue pad.",
+    "Pick the red block, keep the transfer away from the round Earth globe, and place it on blue pad.",
+    "Grab red block, pass it along a path clear of the spinning brown globe, place onto blue pad.",
+    "Pick the red block, hand it over while keeping clear of the globe for geographic reference, then place on blue pad.",
+    "Left arm lifts red block, handover away from the round globe with sturdy base, right arm sets it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the spinning brown globe, place on blue pad.",
+    "Lift the red block, do a handover avoiding the wooden globe with metal base, then place it onto the blue pad.",
+    "Secure the red block, transfer it away from the smooth beige globe with continents, and drop it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm away from the beige and brown globe, place blue pad.",
+    "Use left arm to pick red block, avoid the round globe with sturdy base during handoff, right arm place blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the round Earth globe, place on blue pad.",
+    "Left arm take red block, keep the pass away from the globe with curved black stand, right arm puts on blue pad.",
+    "Take the red block from the table, pass it clear of the spinning brown globe, and put it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the wooden globe with metal base, then sets it on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the round globe with sturdy base, and place on blue pad.",
+    "Lift the red block, hand it across away from the beige and brown globe, then place it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the decor piece globe, then places on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the smooth beige globe with continents, set on blue pad.",
+    "Left arm grips red block, hands off away from the smooth beige globe with continents, right arm places on blue pad.",
+    "Take the red block from the table, hand over away from the globe with smooth surface, drop on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the decor piece globe, then place on blue pad.",
+    "Pick the red block, keep the transfer away from the smooth beige globe with continents, and place it on blue pad.",
+    "Grab red block, pass it along a path clear of the brown globe on black stand, place onto blue pad.",
+    "Pick the red block, hand it over while keeping clear of the smooth beige globe with continents, then place on blue pad.",
+    "Left arm lifts red block, handover away from the Earth map globe, right arm sets it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the globe with curved black stand, place on blue pad.",
+    "Lift the red block, do a handover avoiding the decor piece globe, then place it onto the blue pad.",
+    "Secure the red block, transfer it away from the globe with curved black stand, and drop it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe with curved black stand, place blue pad.",
+    "Use left arm to pick red block, avoid the globe with curved black stand during handoff, right arm place blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the brown globe on black stand, place on blue pad.",
+    "Left arm take red block, keep the pass away from the smooth beige globe with continents, right arm puts on blue pad.",
+    "Take the red block from the table, pass it clear of the spinning brown globe, and put it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the brown globe on black stand, then sets it on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the wooden globe with metal base, and place on blue pad.",
+    "Lift the red block, hand it across away from the globe with smooth surface, then place it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the wooden globe with metal base, then places on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the decor piece globe, set on blue pad.",
+    "Left arm grips red block, hands off away from the globe with smooth surface, right arm places on blue pad.",
+    "Take the red block from the table, hand over away from the decor piece globe, drop on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the round globe with sturdy base, then place on blue pad.",
+    "Pick the red block, keep the transfer away from the round globe with sturdy base, and place it on blue pad.",
+    "Grab red block, pass it along a path clear of the round Earth globe, place onto blue pad.",
+    "Pick the red block, hand it over while keeping clear of the globe with curved black stand, then place on blue pad.",
+    "Left arm lifts red block, handover away from the globe for geographic reference, right arm sets it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the smooth beige globe with continents, place on blue pad.",
+    "Lift the red block, do a handover avoiding the globe with curved black stand, then place it onto the blue pad.",
+    "Secure the red block, transfer it away from the globe with curved black stand, and drop it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm away from the smooth beige globe with continents, place blue pad.",
+    "Use left arm to pick red block, avoid the brown globe on black stand during handoff, right arm place blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the Earth map globe, place on blue pad.",
+    "Left arm take red block, keep the pass away from the decor piece globe, right arm puts on blue pad.",
+    "Take the red block from the table, pass it clear of the decor piece globe, and put it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the round globe with sturdy base, then sets it on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the spinning brown globe, and place on blue pad.",
+    "Lift the red block, hand it across away from the globe with curved black stand, then place it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the wooden globe with metal base, then places on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the wooden globe with metal base, set on blue pad.",
+    "Left arm grips red block, hands off away from the spinning brown globe, right arm places on blue pad.",
+    "Take the red block from the table, hand over away from the beige and brown globe, drop on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe with smooth surface, then place on blue pad.",
+    "Pick the red block, keep the transfer away from the globe with smooth surface, and place it on blue pad.",
+    "Grab red block, pass it along a path clear of the round Earth globe, place onto blue pad.",
+    "Pick the red block, hand it over while keeping clear of the round Earth globe, then place on blue pad.",
+    "Left arm lifts red block, handover away from the smooth beige globe with continents, right arm sets it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the brown globe on black stand, place on blue pad.",
+    "Lift the red block, do a handover avoiding the spinning brown globe, then place it onto the blue pad.",
+    "Secure the red block, transfer it away from the smooth beige globe with continents, and drop it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm away from the Earth map globe, place blue pad."
+  ],
+  "unseen": [
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad."
+  ]
+}
\ No newline at end of file
diff --git a/handover_block_wp1/handover_block_wp1/instructions/episode42.json b/handover_block_wp1/handover_block_wp1/instructions/episode42.json
new file mode 100644
index 0000000000000000000000000000000000000000..388dfac655d6e5bf38a5f8bb071525ed29846917
--- /dev/null
+++ b/handover_block_wp1/handover_block_wp1/instructions/episode42.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Left arm grabs red block, right arm receives it away from the Earth map globe, then sets it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the smooth beige globe with continents, place on blue pad.",
+    "Secure the red block, transfer it away from the globe with curved black stand, and drop it onto the blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the decor piece globe, then places on blue pad.",
+    "Left arm grips red block, hands off away from the round Earth globe, right arm places on blue pad.",
+    "Use left arm to pick red block, avoid the decor piece globe during handoff, right arm place blue pad.",
+    "Lift the red block, hand it across away from the Earth map globe, then place it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the Earth map globe, place blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the Earth map globe, place on blue pad.",
+    "Take the red block from the table, hand over away from the brown globe on black stand, drop on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the round Earth globe, then place on blue pad.",
+    "Lift the red block, do a handover avoiding the globe with curved black stand, then place it onto the blue pad.",
+    "Grab red block, pass it along a path clear of the spinning brown globe, place onto blue pad.",
+    "Left arm lifts red block, handover away from the Earth map globe, right arm sets it on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the wooden globe with metal base, and place on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe with curved black stand, then place on blue pad.",
+    "Take the red block from the table, pass it clear of the smooth beige globe with continents, and put it on blue pad.",
+    "Left arm take red block, keep the pass away from the globe with smooth surface, right arm puts on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the round globe with sturdy base, set on blue pad.",
+    "Pick the red block, keep the transfer away from the beige and brown globe, and place it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the spinning brown globe, then sets it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the globe with curved black stand, place on blue pad.",
+    "Secure the red block, transfer it away from the spinning brown globe, and drop it onto the blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the beige and brown globe, then places on blue pad.",
+    "Left arm grips red block, hands off away from the brown globe on black stand, right arm places on blue pad.",
+    "Use left arm to pick red block, avoid the decor piece globe during handoff, right arm place blue pad.",
+    "Lift the red block, hand it across away from the decor piece globe, then place it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the decor piece globe, place blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the brown globe on black stand, place on blue pad.",
+    "Take the red block from the table, hand over away from the spinning brown globe, drop on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the brown globe on black stand, then place on blue pad.",
+    "Lift the red block, do a handover avoiding the spinning brown globe, then place it onto the blue pad.",
+    "Grab red block, pass it along a path clear of the round globe with sturdy base, place onto blue pad.",
+    "Left arm lifts red block, handover away from the globe with smooth surface, right arm sets it on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the decor piece globe, and place on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the Earth map globe, then place on blue pad.",
+    "Take the red block from the table, pass it clear of the smooth beige globe with continents, and put it on blue pad.",
+    "Left arm take red block, keep the pass away from the decor piece globe, right arm puts on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe with smooth surface, set on blue pad.",
+    "Pick the red block, keep the transfer away from the globe with curved black stand, and place it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the round globe with sturdy base, then sets it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the beige and brown globe, place on blue pad.",
+    "Secure the red block, transfer it away from the brown globe on black stand, and drop it onto the blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe with curved black stand, then places on blue pad.",
+    "Left arm grips red block, hands off away from the round globe with sturdy base, right arm places on blue pad.",
+    "Use left arm to pick red block, avoid the round globe with sturdy base during handoff, right arm place blue pad.",
+    "Lift the red block, hand it across away from the brown globe on black stand, then place it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the Earth map globe, place blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe for geographic reference, place on blue pad.",
+    "Take the red block from the table, hand over away from the wooden globe with metal base, drop on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the globe with smooth surface, then place on blue pad.",
+    "Lift the red block, do a handover avoiding the globe with curved black stand, then place it onto the blue pad.",
+    "Grab red block, pass it along a path clear of the smooth beige globe with continents, place onto blue pad.",
+    "Left arm lifts red block, handover away from the globe with smooth surface, right arm sets it on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the brown globe on black stand, and place on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the beige and brown globe, then place on blue pad.",
+    "Take the red block from the table, pass it clear of the beige and brown globe, and put it on blue pad.",
+    "Left arm take red block, keep the pass away from the spinning brown globe, right arm puts on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the wooden globe with metal base, set on blue pad.",
+    "Pick the red block, keep the transfer away from the globe with curved black stand, and place it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the brown globe on black stand, then sets it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the globe with curved black stand, place on blue pad.",
+    "Secure the red block, transfer it away from the beige and brown globe, and drop it onto the blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the round globe with sturdy base, then places on blue pad.",
+    "Left arm grips red block, hands off away from the globe with smooth surface, right arm places on blue pad.",
+    "Use left arm to pick red block, avoid the globe with curved black stand during handoff, right arm place blue pad.",
+    "Lift the red block, hand it across away from the globe for geographic reference, then place it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the beige and brown globe, place blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the Earth map globe, place on blue pad.",
+    "Take the red block from the table, hand over away from the decor piece globe, drop on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the globe for geographic reference, then place on blue pad.",
+    "Lift the red block, do a handover avoiding the spinning brown globe, then place it onto the blue pad.",
+    "Grab red block, pass it along a path clear of the globe for geographic reference, place onto blue pad.",
+    "Left arm lifts red block, handover away from the globe with curved black stand, right arm sets it on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the Earth map globe, and place on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the round Earth globe, then place on blue pad.",
+    "Take the red block from the table, pass it clear of the globe with smooth surface, and put it on blue pad.",
+    "Left arm take red block, keep the pass away from the beige and brown globe, right arm puts on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the decor piece globe, set on blue pad.",
+    "Pick the red block, keep the transfer away from the spinning brown globe, and place it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the wooden globe with metal base, then sets it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the beige and brown globe, place on blue pad.",
+    "Secure the red block, transfer it away from the decor piece globe, and drop it onto the blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe with smooth surface, then places on blue pad.",
+    "Left arm grips red block, hands off away from the globe with curved black stand, right arm places on blue pad.",
+    "Use left arm to pick red block, avoid the wooden globe with metal base during handoff, right arm place blue pad.",
+    "Lift the red block, hand it across away from the Earth map globe, then place it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe for geographic reference, place blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe with curved black stand, place on blue pad.",
+    "Take the red block from the table, hand over away from the smooth beige globe with continents, drop on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the smooth beige globe with continents, then place on blue pad.",
+    "Lift the red block, do a handover avoiding the wooden globe with metal base, then place it onto the blue pad.",
+    "Grab red block, pass it along a path clear of the globe for geographic reference, place onto blue pad.",
+    "Left arm lifts red block, handover away from the globe for geographic reference, right arm sets it on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the brown globe on black stand, and place on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the wooden globe with metal base, then place on blue pad.",
+    "Take the red block from the table, pass it clear of the round Earth globe, and put it on blue pad.",
+    "Left arm take red block, keep the pass away from the smooth beige globe with continents, right arm puts on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the brown globe on black stand, set on blue pad.",
+    "Pick the red block, keep the transfer away from the spinning brown globe, and place it on blue pad."
+  ],
+  "unseen": [
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe."
+  ]
+}
\ No newline at end of file
diff --git a/handover_block_wp1/handover_block_wp1/instructions/episode43.json b/handover_block_wp1/handover_block_wp1/instructions/episode43.json
new file mode 100644
index 0000000000000000000000000000000000000000..cb31f9f6ba373a62287acd4f841bd4a8d8a5592a
--- /dev/null
+++ b/handover_block_wp1/handover_block_wp1/instructions/episode43.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use left arm to pick red block, avoid the spinning brown globe during handoff, right arm place blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the smooth beige globe with continents, place on blue pad.",
+    "Lift the red block, do a handover avoiding the beige and brown globe, then place it onto the blue pad.",
+    "Left arm lifts red block, handover away from the decor piece globe, right arm sets it on blue pad.",
+    "Take the red block from the table, pass it clear of the round globe with sturdy base, and put it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the globe with smooth surface, then sets it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the round Earth globe, then places on blue pad.",
+    "Grab the red block, transfer it while steering clear of the brown globe on black stand, place on blue pad.",
+    "Grab red block, pass it along a path clear of the round Earth globe, place onto blue pad.",
+    "Pick the red block, keep the transfer away from the brown globe on black stand, and place it on blue pad.",
+    "Left arm take red block, keep the pass away from the decor piece globe, right arm puts on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe with smooth surface, place blue pad.",
+    "Lift the red block, hand it across away from the globe for geographic reference, then place it on blue pad.",
+    "Secure the red block, transfer it away from the wooden globe with metal base, and drop it onto the blue pad.",
+    "Take the red block from the table, hand over away from the globe for geographic reference, drop on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe with smooth surface, set on blue pad.",
+    "Left arm grips red block, hands off away from the globe with curved black stand, right arm places on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the decor piece globe, then place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the round globe with sturdy base, and place on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the Earth map globe, then place on blue pad.",
+    "Use left arm to pick red block, avoid the spinning brown globe during handoff, right arm place blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the round globe with sturdy base, place on blue pad.",
+    "Lift the red block, do a handover avoiding the brown globe on black stand, then place it onto the blue pad.",
+    "Left arm lifts red block, handover away from the Earth map globe, right arm sets it on blue pad.",
+    "Take the red block from the table, pass it clear of the wooden globe with metal base, and put it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the smooth beige globe with continents, then sets it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the round Earth globe, then places on blue pad.",
+    "Grab the red block, transfer it while steering clear of the globe for geographic reference, place on blue pad.",
+    "Grab red block, pass it along a path clear of the beige and brown globe, place onto blue pad.",
+    "Pick the red block, keep the transfer away from the brown globe on black stand, and place it on blue pad.",
+    "Left arm take red block, keep the pass away from the smooth beige globe with continents, right arm puts on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the beige and brown globe, place blue pad.",
+    "Lift the red block, hand it across away from the globe with smooth surface, then place it on blue pad.",
+    "Secure the red block, transfer it away from the Earth map globe, and drop it onto the blue pad.",
+    "Take the red block from the table, hand over away from the beige and brown globe, drop on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe with smooth surface, set on blue pad.",
+    "Left arm grips red block, hands off away from the round Earth globe, right arm places on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the globe with curved black stand, then place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe with smooth surface, and place on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the round globe with sturdy base, then place on blue pad.",
+    "Use left arm to pick red block, avoid the round Earth globe during handoff, right arm place blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the round globe with sturdy base, place on blue pad.",
+    "Lift the red block, do a handover avoiding the wooden globe with metal base, then place it onto the blue pad.",
+    "Left arm lifts red block, handover away from the globe with curved black stand, right arm sets it on blue pad.",
+    "Take the red block from the table, pass it clear of the globe with curved black stand, and put it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the wooden globe with metal base, then sets it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe with curved black stand, then places on blue pad.",
+    "Grab the red block, transfer it while steering clear of the spinning brown globe, place on blue pad.",
+    "Grab red block, pass it along a path clear of the globe with curved black stand, place onto blue pad.",
+    "Pick the red block, keep the transfer away from the spinning brown globe, and place it on blue pad.",
+    "Left arm take red block, keep the pass away from the globe with smooth surface, right arm puts on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the smooth beige globe with continents, place blue pad.",
+    "Lift the red block, hand it across away from the beige and brown globe, then place it on blue pad.",
+    "Secure the red block, transfer it away from the round globe with sturdy base, and drop it onto the blue pad.",
+    "Take the red block from the table, hand over away from the globe with curved black stand, drop on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the beige and brown globe, set on blue pad.",
+    "Left arm grips red block, hands off away from the round Earth globe, right arm places on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the spinning brown globe, then place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the round globe with sturdy base, and place on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the Earth map globe, then place on blue pad.",
+    "Use left arm to pick red block, avoid the smooth beige globe with continents during handoff, right arm place blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe with smooth surface, place on blue pad.",
+    "Lift the red block, do a handover avoiding the smooth beige globe with continents, then place it onto the blue pad.",
+    "Left arm lifts red block, handover away from the smooth beige globe with continents, right arm sets it on blue pad.",
+    "Take the red block from the table, pass it clear of the globe with curved black stand, and put it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the round Earth globe, then sets it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe with smooth surface, then places on blue pad.",
+    "Grab the red block, transfer it while steering clear of the beige and brown globe, place on blue pad.",
+    "Grab red block, pass it along a path clear of the globe with smooth surface, place onto blue pad.",
+    "Pick the red block, keep the transfer away from the globe with smooth surface, and place it on blue pad.",
+    "Left arm take red block, keep the pass away from the smooth beige globe with continents, right arm puts on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the round Earth globe, place blue pad.",
+    "Lift the red block, hand it across away from the globe for geographic reference, then place it on blue pad.",
+    "Secure the red block, transfer it away from the spinning brown globe, and drop it onto the blue pad.",
+    "Take the red block from the table, hand over away from the spinning brown globe, drop on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the brown globe on black stand, set on blue pad.",
+    "Left arm grips red block, hands off away from the beige and brown globe, right arm places on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the round Earth globe, then place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the smooth beige globe with continents, and place on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the wooden globe with metal base, then place on blue pad.",
+    "Use left arm to pick red block, avoid the Earth map globe during handoff, right arm place blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the beige and brown globe, place on blue pad.",
+    "Lift the red block, do a handover avoiding the smooth beige globe with continents, then place it onto the blue pad.",
+    "Left arm lifts red block, handover away from the brown globe on black stand, right arm sets it on blue pad.",
+    "Take the red block from the table, pass it clear of the round Earth globe, and put it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the brown globe on black stand, then sets it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the decor piece globe, then places on blue pad.",
+    "Grab the red block, transfer it while steering clear of the decor piece globe, place on blue pad.",
+    "Grab red block, pass it along a path clear of the spinning brown globe, place onto blue pad.",
+    "Pick the red block, keep the transfer away from the globe with curved black stand, and place it on blue pad.",
+    "Left arm take red block, keep the pass away from the brown globe on black stand, right arm puts on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe for geographic reference, place blue pad.",
+    "Lift the red block, hand it across away from the Earth map globe, then place it on blue pad.",
+    "Secure the red block, transfer it away from the beige and brown globe, and drop it onto the blue pad.",
+    "Take the red block from the table, hand over away from the globe with curved black stand, drop on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the beige and brown globe, set on blue pad.",
+    "Left arm grips red block, hands off away from the smooth beige globe with continents, right arm places on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the globe with curved black stand, then place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe with curved black stand, and place on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe for geographic reference, then place on blue pad."
+  ],
+  "unseen": [
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad."
+  ]
+}
\ No newline at end of file
diff --git a/handover_block_wp1/handover_block_wp1/instructions/episode44.json b/handover_block_wp1/handover_block_wp1/instructions/episode44.json
new file mode 100644
index 0000000000000000000000000000000000000000..b4e3bf755d6fa45797f618769557763546a4acfc
--- /dev/null
+++ b/handover_block_wp1/handover_block_wp1/instructions/episode44.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With left arm, lift red block, hand to right arm avoiding the decor piece globe, then place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the spinning brown globe, place on blue pad.",
+    "Lift the red block, hand it across away from the wooden globe with metal base, then place it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe with smooth surface, place blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the Earth map globe, set on blue pad.",
+    "Grab the red block, transfer it while steering clear of the globe with curved black stand, place on blue pad.",
+    "Take the red block from the table, hand over away from the globe for geographic reference, drop on blue pad.",
+    "Take the red block from the table, pass it clear of the round globe with sturdy base, and put it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the globe with smooth surface, then place on blue pad.",
+    "Grab red block, pass it along a path clear of the round Earth globe, place onto blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe with curved black stand, and place on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the spinning brown globe, then sets it on blue pad.",
+    "Pick the red block, keep the transfer away from the globe with curved black stand, and place it on blue pad.",
+    "Use left arm to pick red block, avoid the decor piece globe during handoff, right arm place blue pad.",
+    "Left arm take red block, keep the pass away from the smooth beige globe with continents, right arm puts on blue pad.",
+    "Secure the red block, transfer it away from the spinning brown globe, and drop it onto the blue pad.",
+    "Left arm grips red block, hands off away from the wooden globe with metal base, right arm places on blue pad.",
+    "Left arm lifts red block, handover away from the globe for geographic reference, right arm sets it on blue pad.",
+    "Lift the red block, do a handover avoiding the globe for geographic reference, then place it onto the blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the smooth beige globe with continents, then places on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the beige and brown globe, then place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the Earth map globe, place on blue pad.",
+    "Lift the red block, hand it across away from the round Earth globe, then place it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the spinning brown globe, place blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the decor piece globe, set on blue pad.",
+    "Grab the red block, transfer it while steering clear of the wooden globe with metal base, place on blue pad.",
+    "Take the red block from the table, hand over away from the decor piece globe, drop on blue pad.",
+    "Take the red block from the table, pass it clear of the smooth beige globe with continents, and put it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the beige and brown globe, then place on blue pad.",
+    "Grab red block, pass it along a path clear of the globe for geographic reference, place onto blue pad.",
+    "Pick up the red block, transfer it while staying clear of the beige and brown globe, and place on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the wooden globe with metal base, then sets it on blue pad.",
+    "Pick the red block, keep the transfer away from the spinning brown globe, and place it on blue pad.",
+    "Use left arm to pick red block, avoid the globe with smooth surface during handoff, right arm place blue pad.",
+    "Left arm take red block, keep the pass away from the Earth map globe, right arm puts on blue pad.",
+    "Secure the red block, transfer it away from the globe with curved black stand, and drop it onto the blue pad.",
+    "Left arm grips red block, hands off away from the smooth beige globe with continents, right arm places on blue pad.",
+    "Left arm lifts red block, handover away from the globe with smooth surface, right arm sets it on blue pad.",
+    "Lift the red block, do a handover avoiding the globe with smooth surface, then place it onto the blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the smooth beige globe with continents, then places on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the wooden globe with metal base, then place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the wooden globe with metal base, place on blue pad.",
+    "Lift the red block, hand it across away from the beige and brown globe, then place it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the smooth beige globe with continents, place blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe with smooth surface, set on blue pad.",
+    "Grab the red block, transfer it while steering clear of the spinning brown globe, place on blue pad.",
+    "Take the red block from the table, hand over away from the globe with smooth surface, drop on blue pad.",
+    "Take the red block from the table, pass it clear of the globe with smooth surface, and put it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the brown globe on black stand, then place on blue pad.",
+    "Grab red block, pass it along a path clear of the globe with smooth surface, place onto blue pad.",
+    "Pick up the red block, transfer it while staying clear of the beige and brown globe, and place on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the smooth beige globe with continents, then sets it on blue pad.",
+    "Pick the red block, keep the transfer away from the brown globe on black stand, and place it on blue pad.",
+    "Use left arm to pick red block, avoid the round Earth globe during handoff, right arm place blue pad.",
+    "Left arm take red block, keep the pass away from the brown globe on black stand, right arm puts on blue pad.",
+    "Secure the red block, transfer it away from the spinning brown globe, and drop it onto the blue pad.",
+    "Left arm grips red block, hands off away from the Earth map globe, right arm places on blue pad.",
+    "Left arm lifts red block, handover away from the round Earth globe, right arm sets it on blue pad.",
+    "Lift the red block, do a handover avoiding the Earth map globe, then place it onto the blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the brown globe on black stand, then places on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the Earth map globe, then place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the decor piece globe, place on blue pad.",
+    "Lift the red block, hand it across away from the globe for geographic reference, then place it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the spinning brown globe, place blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the round Earth globe, set on blue pad.",
+    "Grab the red block, transfer it while steering clear of the Earth map globe, place on blue pad.",
+    "Take the red block from the table, hand over away from the globe for geographic reference, drop on blue pad.",
+    "Take the red block from the table, pass it clear of the globe for geographic reference, and put it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the globe for geographic reference, then place on blue pad.",
+    "Grab red block, pass it along a path clear of the globe with curved black stand, place onto blue pad.",
+    "Pick up the red block, transfer it while staying clear of the smooth beige globe with continents, and place on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the smooth beige globe with continents, then sets it on blue pad.",
+    "Pick the red block, keep the transfer away from the brown globe on black stand, and place it on blue pad.",
+    "Use left arm to pick red block, avoid the spinning brown globe during handoff, right arm place blue pad.",
+    "Left arm take red block, keep the pass away from the round Earth globe, right arm puts on blue pad.",
+    "Secure the red block, transfer it away from the Earth map globe, and drop it onto the blue pad.",
+    "Left arm grips red block, hands off away from the spinning brown globe, right arm places on blue pad.",
+    "Left arm lifts red block, handover away from the spinning brown globe, right arm sets it on blue pad.",
+    "Lift the red block, do a handover avoiding the decor piece globe, then place it onto the blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the spinning brown globe, then places on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe for geographic reference, then place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the Earth map globe, place on blue pad.",
+    "Lift the red block, hand it across away from the round globe with sturdy base, then place it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the round globe with sturdy base, place blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe with curved black stand, set on blue pad.",
+    "Grab the red block, transfer it while steering clear of the decor piece globe, place on blue pad.",
+    "Take the red block from the table, hand over away from the round Earth globe, drop on blue pad.",
+    "Take the red block from the table, pass it clear of the globe with smooth surface, and put it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the round globe with sturdy base, then place on blue pad.",
+    "Grab red block, pass it along a path clear of the wooden globe with metal base, place onto blue pad.",
+    "Pick up the red block, transfer it while staying clear of the decor piece globe, and place on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the brown globe on black stand, then sets it on blue pad.",
+    "Pick the red block, keep the transfer away from the wooden globe with metal base, and place it on blue pad.",
+    "Use left arm to pick red block, avoid the spinning brown globe during handoff, right arm place blue pad.",
+    "Left arm take red block, keep the pass away from the round globe with sturdy base, right arm puts on blue pad.",
+    "Secure the red block, transfer it away from the round globe with sturdy base, and drop it onto the blue pad.",
+    "Left arm grips red block, hands off away from the spinning brown globe, right arm places on blue pad.",
+    "Left arm lifts red block, handover away from the globe with smooth surface, right arm sets it on blue pad.",
+    "Lift the red block, do a handover avoiding the spinning brown globe, then place it onto the blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the smooth beige globe with continents, then places on blue pad."
+  ],
+  "unseen": [
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad."
+  ]
+}
\ No newline at end of file
diff --git a/handover_block_wp1/handover_block_wp1/instructions/episode45.json b/handover_block_wp1/handover_block_wp1/instructions/episode45.json
new file mode 100644
index 0000000000000000000000000000000000000000..0466c0d0352fe9747a282f694de6a58b2b9985f7
--- /dev/null
+++ b/handover_block_wp1/handover_block_wp1/instructions/episode45.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Left arm take red block, keep the pass away from the globe for geographic reference, right arm puts on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the brown globe on black stand, then sets it on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the spinning brown globe, place on blue pad.",
+    "Take the red block from the table, hand over away from the globe with curved black stand, drop on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe for geographic reference, then place on blue pad.",
+    "Left arm lifts red block, handover away from the wooden globe with metal base, right arm sets it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the decor piece globe, set on blue pad.",
+    "Lift the red block, hand it across away from the round Earth globe, then place it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe with curved black stand, then places on blue pad.",
+    "Use left arm to pick red block, avoid the brown globe on black stand during handoff, right arm place blue pad.",
+    "Left arm grips red block, hands off away from the wooden globe with metal base, right arm places on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the beige and brown globe, and place on blue pad.",
+    "Pick the red block, keep the transfer away from the globe for geographic reference, and place it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the wooden globe with metal base, place blue pad.",
+    "Grab the red block, transfer it while steering clear of the round Earth globe, place on blue pad.",
+    "Lift the red block, do a handover avoiding the round Earth globe, then place it onto the blue pad.",
+    "Secure the red block, transfer it away from the decor piece globe, and drop it onto the blue pad.",
+    "Take the red block from the table, pass it clear of the globe with smooth surface, and put it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the globe with smooth surface, then place on blue pad.",
+    "Grab red block, pass it along a path clear of the decor piece globe, place onto blue pad.",
+    "Left arm take red block, keep the pass away from the round globe with sturdy base, right arm puts on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the globe with curved black stand, then sets it on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the Earth map globe, place on blue pad.",
+    "Take the red block from the table, hand over away from the globe for geographic reference, drop on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the decor piece globe, then place on blue pad.",
+    "Left arm lifts red block, handover away from the spinning brown globe, right arm sets it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the spinning brown globe, set on blue pad.",
+    "Lift the red block, hand it across away from the brown globe on black stand, then place it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the brown globe on black stand, then places on blue pad.",
+    "Use left arm to pick red block, avoid the globe with smooth surface during handoff, right arm place blue pad.",
+    "Left arm grips red block, hands off away from the brown globe on black stand, right arm places on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe with smooth surface, and place on blue pad.",
+    "Pick the red block, keep the transfer away from the spinning brown globe, and place it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe with smooth surface, place blue pad.",
+    "Grab the red block, transfer it while steering clear of the globe with smooth surface, place on blue pad.",
+    "Lift the red block, do a handover avoiding the round Earth globe, then place it onto the blue pad.",
+    "Secure the red block, transfer it away from the globe for geographic reference, and drop it onto the blue pad.",
+    "Take the red block from the table, pass it clear of the globe with curved black stand, and put it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the round Earth globe, then place on blue pad.",
+    "Grab red block, pass it along a path clear of the brown globe on black stand, place onto blue pad.",
+    "Left arm take red block, keep the pass away from the smooth beige globe with continents, right arm puts on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the globe with smooth surface, then sets it on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the round Earth globe, place on blue pad.",
+    "Take the red block from the table, hand over away from the globe for geographic reference, drop on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the smooth beige globe with continents, then place on blue pad.",
+    "Left arm lifts red block, handover away from the spinning brown globe, right arm sets it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the decor piece globe, set on blue pad.",
+    "Lift the red block, hand it across away from the round Earth globe, then place it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe for geographic reference, then places on blue pad.",
+    "Use left arm to pick red block, avoid the globe for geographic reference during handoff, right arm place blue pad.",
+    "Left arm grips red block, hands off away from the decor piece globe, right arm places on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the smooth beige globe with continents, and place on blue pad.",
+    "Pick the red block, keep the transfer away from the beige and brown globe, and place it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the round globe with sturdy base, place blue pad.",
+    "Grab the red block, transfer it while steering clear of the round globe with sturdy base, place on blue pad.",
+    "Lift the red block, do a handover avoiding the globe with curved black stand, then place it onto the blue pad.",
+    "Secure the red block, transfer it away from the globe for geographic reference, and drop it onto the blue pad.",
+    "Take the red block from the table, pass it clear of the round Earth globe, and put it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the smooth beige globe with continents, then place on blue pad.",
+    "Grab red block, pass it along a path clear of the beige and brown globe, place onto blue pad.",
+    "Left arm take red block, keep the pass away from the Earth map globe, right arm puts on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the Earth map globe, then sets it on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe for geographic reference, place on blue pad.",
+    "Take the red block from the table, hand over away from the Earth map globe, drop on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe with smooth surface, then place on blue pad.",
+    "Left arm lifts red block, handover away from the beige and brown globe, right arm sets it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe for geographic reference, set on blue pad.",
+    "Lift the red block, hand it across away from the spinning brown globe, then place it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the wooden globe with metal base, then places on blue pad.",
+    "Use left arm to pick red block, avoid the wooden globe with metal base during handoff, right arm place blue pad.",
+    "Left arm grips red block, hands off away from the brown globe on black stand, right arm places on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the Earth map globe, and place on blue pad.",
+    "Pick the red block, keep the transfer away from the decor piece globe, and place it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the wooden globe with metal base, place blue pad.",
+    "Grab the red block, transfer it while steering clear of the round globe with sturdy base, place on blue pad.",
+    "Lift the red block, do a handover avoiding the spinning brown globe, then place it onto the blue pad.",
+    "Secure the red block, transfer it away from the globe for geographic reference, and drop it onto the blue pad.",
+    "Take the red block from the table, pass it clear of the globe with curved black stand, and put it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the wooden globe with metal base, then place on blue pad.",
+    "Grab red block, pass it along a path clear of the round globe with sturdy base, place onto blue pad.",
+    "Left arm take red block, keep the pass away from the round globe with sturdy base, right arm puts on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the smooth beige globe with continents, then sets it on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the round globe with sturdy base, place on blue pad.",
+    "Take the red block from the table, hand over away from the decor piece globe, drop on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the beige and brown globe, then place on blue pad.",
+    "Left arm lifts red block, handover away from the Earth map globe, right arm sets it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the spinning brown globe, set on blue pad.",
+    "Lift the red block, hand it across away from the wooden globe with metal base, then place it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the smooth beige globe with continents, then places on blue pad.",
+    "Use left arm to pick red block, avoid the wooden globe with metal base during handoff, right arm place blue pad.",
+    "Left arm grips red block, hands off away from the globe with smooth surface, right arm places on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe for geographic reference, and place on blue pad.",
+    "Pick the red block, keep the transfer away from the decor piece globe, and place it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe for geographic reference, place blue pad.",
+    "Grab the red block, transfer it while steering clear of the spinning brown globe, place on blue pad.",
+    "Lift the red block, do a handover avoiding the spinning brown globe, then place it onto the blue pad.",
+    "Secure the red block, transfer it away from the brown globe on black stand, and drop it onto the blue pad.",
+    "Take the red block from the table, pass it clear of the smooth beige globe with continents, and put it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the brown globe on black stand, then place on blue pad.",
+    "Grab red block, pass it along a path clear of the spinning brown globe, place onto blue pad."
+  ],
+  "unseen": [
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad."
+  ]
+}
\ No newline at end of file
diff --git a/handover_block_wp1/handover_block_wp1/instructions/episode46.json b/handover_block_wp1/handover_block_wp1/instructions/episode46.json
new file mode 100644
index 0000000000000000000000000000000000000000..391e29c4418a2562b5bbda549c633f2edd17a4b9
--- /dev/null
+++ b/handover_block_wp1/handover_block_wp1/instructions/episode46.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the red block, transfer it while staying clear of the globe sitting on curved black base, and place on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the globe featuring bright country colors, then sets it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the earth-shaped globe with black frame, then places on blue pad.",
+    "Lift the red block, hand it across away from the blue globe with colorful continents, then place it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the blue globe with colorful continents, set on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe featuring bright country colors, then place on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the compact globe with labeled countries, place blue pad.",
+    "Pick the red block, keep the transfer away from the blue globe, and place it on blue pad.",
+    "Left arm lifts red block, handover away from the globe sitting on curved black base, right arm sets it on blue pad.",
+    "Take the red block from the table, pass it clear of the earth-shaped globe with black frame, and put it on blue pad.",
+    "Grab red block, pass it along a path clear of the globe with curved black base, place onto blue pad.",
+    "Left arm grips red block, hands off away from the hand-sized globe on sturdy stand, right arm places on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the earth-shaped globe with black frame, place on blue pad.",
+    "Lift the red block, do a handover avoiding the colorful globe on black stand, then place it onto the blue pad.",
+    "Secure the red block, transfer it away from the earth-shaped globe with black frame, and drop it onto the blue pad.",
+    "Grab the red block, transfer it while steering clear of the globe sitting on curved black base, place on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the hand-sized globe on sturdy stand, then place on blue pad.",
+    "Take the red block from the table, hand over away from the earth-shaped globe with black frame, drop on blue pad.",
+    "Use left arm to pick red block, avoid the colorful globe on black stand during handoff, right arm place blue pad.",
+    "Left arm take red block, keep the pass away from the compact globe with labeled countries, right arm puts on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the compact globe with labeled countries, and place on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the small sphere showing earth map, then sets it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the blue globe, then places on blue pad.",
+    "Lift the red block, hand it across away from the globe sitting on curved black base, then place it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the hand-sized globe on sturdy stand, set on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the small world globe, then place on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the small sphere showing earth map, place blue pad.",
+    "Pick the red block, keep the transfer away from the globe sitting on curved black base, and place it on blue pad.",
+    "Left arm lifts red block, handover away from the blue globe with colorful continents, right arm sets it on blue pad.",
+    "Take the red block from the table, pass it clear of the globe featuring bright country colors, and put it on blue pad.",
+    "Grab red block, pass it along a path clear of the colorful globe on black stand, place onto blue pad.",
+    "Left arm grips red block, hands off away from the globe sitting on curved black base, right arm places on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the small sphere showing earth map, place on blue pad.",
+    "Lift the red block, do a handover avoiding the small sphere showing earth map, then place it onto the blue pad.",
+    "Secure the red block, transfer it away from the globe featuring bright country colors, and drop it onto the blue pad.",
+    "Grab the red block, transfer it while steering clear of the blue sphere with countries marked, place on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the globe sitting on curved black base, then place on blue pad.",
+    "Take the red block from the table, hand over away from the small sphere showing earth map, drop on blue pad.",
+    "Use left arm to pick red block, avoid the blue globe with colorful continents during handoff, right arm place blue pad.",
+    "Left arm take red block, keep the pass away from the colorful globe on black stand, right arm puts on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the hand-sized globe on sturdy stand, and place on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the blue globe with colorful continents, then sets it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the small sphere showing earth map, then places on blue pad.",
+    "Lift the red block, hand it across away from the globe featuring bright country colors, then place it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the small world globe, set on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe sitting on curved black base, then place on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the colorful globe on black stand, place blue pad.",
+    "Pick the red block, keep the transfer away from the globe with curved black base, and place it on blue pad.",
+    "Left arm lifts red block, handover away from the globe featuring bright country colors, right arm sets it on blue pad.",
+    "Take the red block from the table, pass it clear of the compact globe with labeled countries, and put it on blue pad.",
+    "Grab red block, pass it along a path clear of the hand-sized globe on sturdy stand, place onto blue pad.",
+    "Left arm grips red block, hands off away from the compact globe with labeled countries, right arm places on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the small sphere showing earth map, place on blue pad.",
+    "Lift the red block, do a handover avoiding the small sphere showing earth map, then place it onto the blue pad.",
+    "Secure the red block, transfer it away from the globe featuring bright country colors, and drop it onto the blue pad.",
+    "Grab the red block, transfer it while steering clear of the earth-shaped globe with black frame, place on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the colorful globe on black stand, then place on blue pad.",
+    "Take the red block from the table, hand over away from the colorful globe on black stand, drop on blue pad.",
+    "Use left arm to pick red block, avoid the hand-sized globe on sturdy stand during handoff, right arm place blue pad.",
+    "Left arm take red block, keep the pass away from the blue globe, right arm puts on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the compact globe with labeled countries, and place on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the hand-sized globe on sturdy stand, then sets it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the earth-shaped globe with black frame, then places on blue pad.",
+    "Lift the red block, hand it across away from the globe sitting on curved black base, then place it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe sitting on curved black base, set on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the small world globe, then place on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe sitting on curved black base, place blue pad.",
+    "Pick the red block, keep the transfer away from the globe with curved black base, and place it on blue pad.",
+    "Left arm lifts red block, handover away from the earth-shaped globe with black frame, right arm sets it on blue pad.",
+    "Take the red block from the table, pass it clear of the blue sphere with countries marked, and put it on blue pad.",
+    "Grab red block, pass it along a path clear of the hand-sized globe on sturdy stand, place onto blue pad.",
+    "Left arm grips red block, hands off away from the globe with curved black base, right arm places on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the blue globe, place on blue pad.",
+    "Lift the red block, do a handover avoiding the globe featuring bright country colors, then place it onto the blue pad.",
+    "Secure the red block, transfer it away from the globe featuring bright country colors, and drop it onto the blue pad.",
+    "Grab the red block, transfer it while steering clear of the small sphere showing earth map, place on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the colorful globe on black stand, then place on blue pad.",
+    "Take the red block from the table, hand over away from the hand-sized globe on sturdy stand, drop on blue pad.",
+    "Use left arm to pick red block, avoid the globe sitting on curved black base during handoff, right arm place blue pad.",
+    "Left arm take red block, keep the pass away from the earth-shaped globe with black frame, right arm puts on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the blue globe with colorful continents, and place on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the globe featuring bright country colors, then sets it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the hand-sized globe on sturdy stand, then places on blue pad.",
+    "Lift the red block, hand it across away from the colorful globe on black stand, then place it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the blue globe, set on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the small world globe, then place on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe featuring bright country colors, place blue pad.",
+    "Pick the red block, keep the transfer away from the blue globe, and place it on blue pad.",
+    "Left arm lifts red block, handover away from the earth-shaped globe with black frame, right arm sets it on blue pad.",
+    "Take the red block from the table, pass it clear of the earth-shaped globe with black frame, and put it on blue pad.",
+    "Grab red block, pass it along a path clear of the blue globe, place onto blue pad.",
+    "Left arm grips red block, hands off away from the hand-sized globe on sturdy stand, right arm places on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe sitting on curved black base, place on blue pad.",
+    "Lift the red block, do a handover avoiding the small sphere showing earth map, then place it onto the blue pad.",
+    "Secure the red block, transfer it away from the globe with curved black base, and drop it onto the blue pad.",
+    "Grab the red block, transfer it while steering clear of the colorful globe on black stand, place on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the small sphere showing earth map, then place on blue pad.",
+    "Take the red block from the table, hand over away from the small sphere showing earth map, drop on blue pad.",
+    "Use left arm to pick red block, avoid the blue sphere with countries marked during handoff, right arm place blue pad.",
+    "Left arm take red block, keep the pass away from the globe featuring bright country colors, right arm puts on blue pad."
+  ],
+  "unseen": [
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad."
+  ]
+}
\ No newline at end of file
diff --git a/handover_block_wp1/handover_block_wp1/instructions/episode47.json b/handover_block_wp1/handover_block_wp1/instructions/episode47.json
new file mode 100644
index 0000000000000000000000000000000000000000..7fa5721bbe4f210e114c3fc8e31ba1b14fa35f36
--- /dev/null
+++ b/handover_block_wp1/handover_block_wp1/instructions/episode47.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With left arm, lift red block, hand to right arm avoiding the blue sphere with countries marked, then place on blue pad.",
+    "Left arm lifts red block, handover away from the blue globe with colorful continents, right arm sets it on blue pad.",
+    "Left arm take red block, keep the pass away from the compact globe with labeled countries, right arm puts on blue pad.",
+    "Use left arm to pick red block, avoid the hand-sized globe on sturdy stand during handoff, right arm place blue pad.",
+    "With left arm, lift red block, hand to right arm away from the small sphere showing earth map, place blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the compact globe with labeled countries, place on blue pad.",
+    "Left arm grips red block, hands off away from the small world globe, right arm places on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the earth-shaped globe with black frame, then sets it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the blue sphere with countries marked, then places on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the small world globe, then place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the compact globe with labeled countries, set on blue pad.",
+    "Lift the red block, hand it across away from the colorful globe on black stand, then place it on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the blue globe with colorful continents, and place on blue pad.",
+    "Grab red block, pass it along a path clear of the small sphere showing earth map, place onto blue pad.",
+    "Pick the red block, keep the transfer away from the globe with curved black base, and place it on blue pad.",
+    "Secure the red block, transfer it away from the globe featuring bright country colors, and drop it onto the blue pad.",
+    "Grab the red block, transfer it while steering clear of the colorful globe on black stand, place on blue pad.",
+    "Take the red block from the table, pass it clear of the compact globe with labeled countries, and put it on blue pad.",
+    "Lift the red block, do a handover avoiding the colorful globe on black stand, then place it onto the blue pad.",
+    "Take the red block from the table, hand over away from the globe featuring bright country colors, drop on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the small world globe, then place on blue pad.",
+    "Left arm lifts red block, handover away from the earth-shaped globe with black frame, right arm sets it on blue pad.",
+    "Left arm take red block, keep the pass away from the hand-sized globe on sturdy stand, right arm puts on blue pad.",
+    "Use left arm to pick red block, avoid the globe sitting on curved black base during handoff, right arm place blue pad.",
+    "With left arm, lift red block, hand to right arm away from the small world globe, place blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the blue globe, place on blue pad.",
+    "Left arm grips red block, hands off away from the globe featuring bright country colors, right arm places on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the blue globe with colorful continents, then sets it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the earth-shaped globe with black frame, then places on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the hand-sized globe on sturdy stand, then place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe featuring bright country colors, set on blue pad.",
+    "Lift the red block, hand it across away from the globe with curved black base, then place it on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe featuring bright country colors, and place on blue pad.",
+    "Grab red block, pass it along a path clear of the blue sphere with countries marked, place onto blue pad.",
+    "Pick the red block, keep the transfer away from the globe sitting on curved black base, and place it on blue pad.",
+    "Secure the red block, transfer it away from the blue globe with colorful continents, and drop it onto the blue pad.",
+    "Grab the red block, transfer it while steering clear of the blue globe, place on blue pad.",
+    "Take the red block from the table, pass it clear of the blue sphere with countries marked, and put it on blue pad.",
+    "Lift the red block, do a handover avoiding the small sphere showing earth map, then place it onto the blue pad.",
+    "Take the red block from the table, hand over away from the blue globe, drop on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the blue sphere with countries marked, then place on blue pad.",
+    "Left arm lifts red block, handover away from the blue globe, right arm sets it on blue pad.",
+    "Left arm take red block, keep the pass away from the blue globe with colorful continents, right arm puts on blue pad.",
+    "Use left arm to pick red block, avoid the small world globe during handoff, right arm place blue pad.",
+    "With left arm, lift red block, hand to right arm away from the small world globe, place blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the compact globe with labeled countries, place on blue pad.",
+    "Left arm grips red block, hands off away from the compact globe with labeled countries, right arm places on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the earth-shaped globe with black frame, then sets it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the small sphere showing earth map, then places on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the globe sitting on curved black base, then place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the earth-shaped globe with black frame, set on blue pad.",
+    "Lift the red block, hand it across away from the blue globe with colorful continents, then place it on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the colorful globe on black stand, and place on blue pad.",
+    "Grab red block, pass it along a path clear of the small world globe, place onto blue pad.",
+    "Pick the red block, keep the transfer away from the blue sphere with countries marked, and place it on blue pad.",
+    "Secure the red block, transfer it away from the blue globe with colorful continents, and drop it onto the blue pad.",
+    "Grab the red block, transfer it while steering clear of the blue globe with colorful continents, place on blue pad.",
+    "Take the red block from the table, pass it clear of the compact globe with labeled countries, and put it on blue pad.",
+    "Lift the red block, do a handover avoiding the small world globe, then place it onto the blue pad.",
+    "Take the red block from the table, hand over away from the earth-shaped globe with black frame, drop on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the hand-sized globe on sturdy stand, then place on blue pad.",
+    "Left arm lifts red block, handover away from the colorful globe on black stand, right arm sets it on blue pad.",
+    "Left arm take red block, keep the pass away from the blue globe with colorful continents, right arm puts on blue pad.",
+    "Use left arm to pick red block, avoid the blue globe during handoff, right arm place blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe with curved black base, place blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe featuring bright country colors, place on blue pad.",
+    "Left arm grips red block, hands off away from the colorful globe on black stand, right arm places on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the blue globe, then sets it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe sitting on curved black base, then places on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the colorful globe on black stand, then place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the small sphere showing earth map, set on blue pad.",
+    "Lift the red block, hand it across away from the blue globe with colorful continents, then place it on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the blue globe with colorful continents, and place on blue pad.",
+    "Grab red block, pass it along a path clear of the blue globe, place onto blue pad.",
+    "Pick the red block, keep the transfer away from the hand-sized globe on sturdy stand, and place it on blue pad.",
+    "Secure the red block, transfer it away from the blue sphere with countries marked, and drop it onto the blue pad.",
+    "Grab the red block, transfer it while steering clear of the blue globe, place on blue pad.",
+    "Take the red block from the table, pass it clear of the globe featuring bright country colors, and put it on blue pad.",
+    "Lift the red block, do a handover avoiding the globe with curved black base, then place it onto the blue pad.",
+    "Take the red block from the table, hand over away from the globe with curved black base, drop on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the blue globe with colorful continents, then place on blue pad.",
+    "Left arm lifts red block, handover away from the earth-shaped globe with black frame, right arm sets it on blue pad.",
+    "Left arm take red block, keep the pass away from the colorful globe on black stand, right arm puts on blue pad.",
+    "Use left arm to pick red block, avoid the colorful globe on black stand during handoff, right arm place blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe sitting on curved black base, place blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe with curved black base, place on blue pad.",
+    "Left arm grips red block, hands off away from the small world globe, right arm places on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the small world globe, then sets it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the hand-sized globe on sturdy stand, then places on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the blue sphere with countries marked, then place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the blue sphere with countries marked, set on blue pad.",
+    "Lift the red block, hand it across away from the blue globe with colorful continents, then place it on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the blue globe with colorful continents, and place on blue pad.",
+    "Grab red block, pass it along a path clear of the blue globe, place onto blue pad.",
+    "Pick the red block, keep the transfer away from the blue globe, and place it on blue pad.",
+    "Secure the red block, transfer it away from the hand-sized globe on sturdy stand, and drop it onto the blue pad.",
+    "Grab the red block, transfer it while steering clear of the globe sitting on curved black base, place on blue pad.",
+    "Take the red block from the table, pass it clear of the hand-sized globe on sturdy stand, and put it on blue pad.",
+    "Lift the red block, do a handover avoiding the globe with curved black base, then place it onto the blue pad.",
+    "Take the red block from the table, hand over away from the small sphere showing earth map, drop on blue pad."
+  ],
+  "unseen": [
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad."
+  ]
+}
\ No newline at end of file
diff --git a/handover_block_wp1/handover_block_wp1/instructions/episode48.json b/handover_block_wp1/handover_block_wp1/instructions/episode48.json
new file mode 100644
index 0000000000000000000000000000000000000000..f9081de473d60b0adf6f386144a442d630d51906
--- /dev/null
+++ b/handover_block_wp1/handover_block_wp1/instructions/episode48.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use left arm to pick red block, avoid the round globe with sturdy base during handoff, right arm place blue pad.",
+    "Left arm take red block, keep the pass away from the smooth beige globe with continents, right arm puts on blue pad.",
+    "Lift the red block, do a handover avoiding the globe with curved black stand, then place it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm away from the Earth map globe, place blue pad.",
+    "Left arm grips red block, hands off away from the globe for geographic reference, right arm places on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the beige and brown globe, then place on blue pad.",
+    "Pick the red block, keep the transfer away from the spinning brown globe, and place it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the globe with smooth surface, place on blue pad.",
+    "Lift the red block, hand it across away from the wooden globe with metal base, then place it on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the smooth beige globe with continents, place on blue pad.",
+    "Take the red block from the table, pass it clear of the decor piece globe, and put it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe for geographic reference, then place on blue pad.",
+    "Grab red block, pass it along a path clear of the spinning brown globe, place onto blue pad.",
+    "Left arm grabs red block, right arm receives it away from the globe with smooth surface, then sets it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the round globe with sturdy base, set on blue pad.",
+    "Left arm lifts red block, handover away from the globe with curved black stand, right arm sets it on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the round globe with sturdy base, and place on blue pad.",
+    "Take the red block from the table, hand over away from the globe with curved black stand, drop on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe with smooth surface, then places on blue pad.",
+    "Secure the red block, transfer it away from the spinning brown globe, and drop it onto the blue pad.",
+    "Use left arm to pick red block, avoid the globe with curved black stand during handoff, right arm place blue pad.",
+    "Left arm take red block, keep the pass away from the beige and brown globe, right arm puts on blue pad.",
+    "Lift the red block, do a handover avoiding the globe with curved black stand, then place it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe with curved black stand, place blue pad.",
+    "Left arm grips red block, hands off away from the globe with curved black stand, right arm places on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the globe for geographic reference, then place on blue pad.",
+    "Pick the red block, keep the transfer away from the decor piece globe, and place it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the round globe with sturdy base, place on blue pad.",
+    "Lift the red block, hand it across away from the decor piece globe, then place it on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe for geographic reference, place on blue pad.",
+    "Take the red block from the table, pass it clear of the decor piece globe, and put it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the wooden globe with metal base, then place on blue pad.",
+    "Grab red block, pass it along a path clear of the wooden globe with metal base, place onto blue pad.",
+    "Left arm grabs red block, right arm receives it away from the brown globe on black stand, then sets it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the wooden globe with metal base, set on blue pad.",
+    "Left arm lifts red block, handover away from the smooth beige globe with continents, right arm sets it on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the brown globe on black stand, and place on blue pad.",
+    "Take the red block from the table, hand over away from the spinning brown globe, drop on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the spinning brown globe, then places on blue pad.",
+    "Secure the red block, transfer it away from the decor piece globe, and drop it onto the blue pad.",
+    "Use left arm to pick red block, avoid the brown globe on black stand during handoff, right arm place blue pad.",
+    "Left arm take red block, keep the pass away from the beige and brown globe, right arm puts on blue pad.",
+    "Lift the red block, do a handover avoiding the beige and brown globe, then place it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm away from the beige and brown globe, place blue pad.",
+    "Left arm grips red block, hands off away from the Earth map globe, right arm places on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the globe with curved black stand, then place on blue pad.",
+    "Pick the red block, keep the transfer away from the globe with curved black stand, and place it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the beige and brown globe, place on blue pad.",
+    "Lift the red block, hand it across away from the beige and brown globe, then place it on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the wooden globe with metal base, place on blue pad.",
+    "Take the red block from the table, pass it clear of the spinning brown globe, and put it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the beige and brown globe, then place on blue pad.",
+    "Grab red block, pass it along a path clear of the globe with curved black stand, place onto blue pad.",
+    "Left arm grabs red block, right arm receives it away from the brown globe on black stand, then sets it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the wooden globe with metal base, set on blue pad.",
+    "Left arm lifts red block, handover away from the brown globe on black stand, right arm sets it on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe with curved black stand, and place on blue pad.",
+    "Take the red block from the table, hand over away from the globe with curved black stand, drop on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the wooden globe with metal base, then places on blue pad.",
+    "Secure the red block, transfer it away from the decor piece globe, and drop it onto the blue pad.",
+    "Use left arm to pick red block, avoid the spinning brown globe during handoff, right arm place blue pad.",
+    "Left arm take red block, keep the pass away from the wooden globe with metal base, right arm puts on blue pad.",
+    "Lift the red block, do a handover avoiding the round Earth globe, then place it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm away from the spinning brown globe, place blue pad.",
+    "Left arm grips red block, hands off away from the globe with curved black stand, right arm places on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the brown globe on black stand, then place on blue pad.",
+    "Pick the red block, keep the transfer away from the beige and brown globe, and place it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the round globe with sturdy base, place on blue pad.",
+    "Lift the red block, hand it across away from the smooth beige globe with continents, then place it on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe with curved black stand, place on blue pad.",
+    "Take the red block from the table, pass it clear of the globe with curved black stand, and put it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the decor piece globe, then place on blue pad.",
+    "Grab red block, pass it along a path clear of the round globe with sturdy base, place onto blue pad.",
+    "Left arm grabs red block, right arm receives it away from the Earth map globe, then sets it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the round globe with sturdy base, set on blue pad.",
+    "Left arm lifts red block, handover away from the Earth map globe, right arm sets it on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the round Earth globe, and place on blue pad.",
+    "Take the red block from the table, hand over away from the brown globe on black stand, drop on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe with smooth surface, then places on blue pad.",
+    "Secure the red block, transfer it away from the spinning brown globe, and drop it onto the blue pad.",
+    "Use left arm to pick red block, avoid the brown globe on black stand during handoff, right arm place blue pad.",
+    "Left arm take red block, keep the pass away from the decor piece globe, right arm puts on blue pad.",
+    "Lift the red block, do a handover avoiding the smooth beige globe with continents, then place it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe for geographic reference, place blue pad.",
+    "Left arm grips red block, hands off away from the decor piece globe, right arm places on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the wooden globe with metal base, then place on blue pad.",
+    "Pick the red block, keep the transfer away from the globe with smooth surface, and place it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the wooden globe with metal base, place on blue pad.",
+    "Lift the red block, hand it across away from the Earth map globe, then place it on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the round Earth globe, place on blue pad.",
+    "Take the red block from the table, pass it clear of the brown globe on black stand, and put it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the Earth map globe, then place on blue pad.",
+    "Grab red block, pass it along a path clear of the globe with curved black stand, place onto blue pad.",
+    "Left arm grabs red block, right arm receives it away from the globe with smooth surface, then sets it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the round Earth globe, set on blue pad.",
+    "Left arm lifts red block, handover away from the spinning brown globe, right arm sets it on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe with curved black stand, and place on blue pad.",
+    "Take the red block from the table, hand over away from the spinning brown globe, drop on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the spinning brown globe, then places on blue pad.",
+    "Secure the red block, transfer it away from the Earth map globe, and drop it onto the blue pad."
+  ],
+  "unseen": [
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad."
+  ]
+}
\ No newline at end of file
diff --git a/handover_block_wp1/handover_block_wp1/instructions/episode49.json b/handover_block_wp1/handover_block_wp1/instructions/episode49.json
new file mode 100644
index 0000000000000000000000000000000000000000..009d55944caa2b66bbf8a142fcfa7f7774f011b6
--- /dev/null
+++ b/handover_block_wp1/handover_block_wp1/instructions/episode49.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the red block from the table, pass it clear of the globe featuring bright country colors, and put it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the colorful globe on black stand, then places on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the blue globe with colorful continents, place blue pad.",
+    "Secure the red block, transfer it away from the small sphere showing earth map, and drop it onto the blue pad.",
+    "Use left arm to pick red block, avoid the small world globe during handoff, right arm place blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the small world globe, place on blue pad.",
+    "Left arm take red block, keep the pass away from the blue globe, right arm puts on blue pad.",
+    "Pick the red block, keep the transfer away from the compact globe with labeled countries, and place it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the small sphere showing earth map, then place on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the small sphere showing earth map, then sets it on blue pad.",
+    "Grab red block, pass it along a path clear of the colorful globe on black stand, place onto blue pad.",
+    "Grab the red block, transfer it while steering clear of the blue globe with colorful continents, place on blue pad.",
+    "Left arm lifts red block, handover away from the globe sitting on curved black base, right arm sets it on blue pad.",
+    "Lift the red block, do a handover avoiding the colorful globe on black stand, then place it onto the blue pad.",
+    "Take the red block from the table, hand over away from the colorful globe on black stand, drop on blue pad.",
+    "Lift the red block, hand it across away from the hand-sized globe on sturdy stand, then place it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the blue globe, then place on blue pad.",
+    "Left arm grips red block, hands off away from the small world globe, right arm places on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the blue globe, set on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the small sphere showing earth map, and place on blue pad.",
+    "Take the red block from the table, pass it clear of the hand-sized globe on sturdy stand, and put it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the hand-sized globe on sturdy stand, then places on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the small world globe, place blue pad.",
+    "Secure the red block, transfer it away from the blue globe with colorful continents, and drop it onto the blue pad.",
+    "Use left arm to pick red block, avoid the globe with curved black base during handoff, right arm place blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the compact globe with labeled countries, place on blue pad.",
+    "Left arm take red block, keep the pass away from the small sphere showing earth map, right arm puts on blue pad.",
+    "Pick the red block, keep the transfer away from the compact globe with labeled countries, and place it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the hand-sized globe on sturdy stand, then place on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the blue globe, then sets it on blue pad.",
+    "Grab red block, pass it along a path clear of the blue sphere with countries marked, place onto blue pad.",
+    "Grab the red block, transfer it while steering clear of the compact globe with labeled countries, place on blue pad.",
+    "Left arm lifts red block, handover away from the hand-sized globe on sturdy stand, right arm sets it on blue pad.",
+    "Lift the red block, do a handover avoiding the earth-shaped globe with black frame, then place it onto the blue pad.",
+    "Take the red block from the table, hand over away from the compact globe with labeled countries, drop on blue pad.",
+    "Lift the red block, hand it across away from the blue globe, then place it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the blue sphere with countries marked, then place on blue pad.",
+    "Left arm grips red block, hands off away from the colorful globe on black stand, right arm places on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe featuring bright country colors, set on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the small world globe, and place on blue pad.",
+    "Take the red block from the table, pass it clear of the globe with curved black base, and put it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the colorful globe on black stand, then places on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the blue globe, place blue pad.",
+    "Secure the red block, transfer it away from the hand-sized globe on sturdy stand, and drop it onto the blue pad.",
+    "Use left arm to pick red block, avoid the globe sitting on curved black base during handoff, right arm place blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the blue globe, place on blue pad.",
+    "Left arm take red block, keep the pass away from the globe sitting on curved black base, right arm puts on blue pad.",
+    "Pick the red block, keep the transfer away from the small world globe, and place it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the earth-shaped globe with black frame, then place on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the blue globe, then sets it on blue pad.",
+    "Grab red block, pass it along a path clear of the globe featuring bright country colors, place onto blue pad.",
+    "Grab the red block, transfer it while steering clear of the blue sphere with countries marked, place on blue pad.",
+    "Left arm lifts red block, handover away from the earth-shaped globe with black frame, right arm sets it on blue pad.",
+    "Lift the red block, do a handover avoiding the globe featuring bright country colors, then place it onto the blue pad.",
+    "Take the red block from the table, hand over away from the globe with curved black base, drop on blue pad.",
+    "Lift the red block, hand it across away from the colorful globe on black stand, then place it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the colorful globe on black stand, then place on blue pad.",
+    "Left arm grips red block, hands off away from the blue sphere with countries marked, right arm places on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the small sphere showing earth map, set on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the small sphere showing earth map, and place on blue pad.",
+    "Take the red block from the table, pass it clear of the colorful globe on black stand, and put it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe sitting on curved black base, then places on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe sitting on curved black base, place blue pad.",
+    "Secure the red block, transfer it away from the blue sphere with countries marked, and drop it onto the blue pad.",
+    "Use left arm to pick red block, avoid the globe with curved black base during handoff, right arm place blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the hand-sized globe on sturdy stand, place on blue pad.",
+    "Left arm take red block, keep the pass away from the globe with curved black base, right arm puts on blue pad.",
+    "Pick the red block, keep the transfer away from the earth-shaped globe with black frame, and place it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe with curved black base, then place on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the blue sphere with countries marked, then sets it on blue pad.",
+    "Grab red block, pass it along a path clear of the blue sphere with countries marked, place onto blue pad.",
+    "Grab the red block, transfer it while steering clear of the blue sphere with countries marked, place on blue pad.",
+    "Left arm lifts red block, handover away from the hand-sized globe on sturdy stand, right arm sets it on blue pad.",
+    "Lift the red block, do a handover avoiding the globe with curved black base, then place it onto the blue pad.",
+    "Take the red block from the table, hand over away from the blue sphere with countries marked, drop on blue pad.",
+    "Lift the red block, hand it across away from the hand-sized globe on sturdy stand, then place it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the hand-sized globe on sturdy stand, then place on blue pad.",
+    "Left arm grips red block, hands off away from the globe featuring bright country colors, right arm places on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the blue sphere with countries marked, set on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the small world globe, and place on blue pad.",
+    "Take the red block from the table, pass it clear of the globe featuring bright country colors, and put it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the blue globe with colorful continents, then places on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the blue globe, place blue pad.",
+    "Secure the red block, transfer it away from the small sphere showing earth map, and drop it onto the blue pad.",
+    "Use left arm to pick red block, avoid the globe with curved black base during handoff, right arm place blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the blue globe, place on blue pad.",
+    "Left arm take red block, keep the pass away from the compact globe with labeled countries, right arm puts on blue pad.",
+    "Pick the red block, keep the transfer away from the hand-sized globe on sturdy stand, and place it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe featuring bright country colors, then place on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the compact globe with labeled countries, then sets it on blue pad.",
+    "Grab red block, pass it along a path clear of the small sphere showing earth map, place onto blue pad.",
+    "Grab the red block, transfer it while steering clear of the globe sitting on curved black base, place on blue pad.",
+    "Left arm lifts red block, handover away from the blue sphere with countries marked, right arm sets it on blue pad.",
+    "Lift the red block, do a handover avoiding the blue sphere with countries marked, then place it onto the blue pad.",
+    "Take the red block from the table, hand over away from the blue globe, drop on blue pad.",
+    "Lift the red block, hand it across away from the small sphere showing earth map, then place it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the colorful globe on black stand, then place on blue pad.",
+    "Left arm grips red block, hands off away from the colorful globe on black stand, right arm places on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the blue globe with colorful continents, set on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the hand-sized globe on sturdy stand, and place on blue pad."
+  ],
+  "unseen": [
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad."
+  ]
+}
\ No newline at end of file
diff --git a/handover_block_wp1/handover_block_wp1/instructions/episode5.json b/handover_block_wp1/handover_block_wp1/instructions/episode5.json
new file mode 100644
index 0000000000000000000000000000000000000000..3326e3cbf70ba04270abd92fd1334f2133a01b11
--- /dev/null
+++ b/handover_block_wp1/handover_block_wp1/instructions/episode5.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With left arm, lift red block, hand to right arm avoiding the globe featuring bright country colors, then place on blue pad.",
+    "Use left arm to pick red block, avoid the globe with curved black base during handoff, right arm place blue pad.",
+    "Left arm grips red block, hands off away from the earth-shaped globe with black frame, right arm places on blue pad.",
+    "Left arm lifts red block, handover away from the globe sitting on curved black base, right arm sets it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the small world globe, then place on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the blue globe with colorful continents, place blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the hand-sized globe on sturdy stand, then places on blue pad.",
+    "Left arm take red block, keep the pass away from the compact globe with labeled countries, right arm puts on blue pad.",
+    "Take the red block from the table, hand over away from the compact globe with labeled countries, drop on blue pad.",
+    "Grab the red block, transfer it while steering clear of the colorful globe on black stand, place on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the globe sitting on curved black base, then sets it on blue pad.",
+    "Lift the red block, hand it across away from the globe with curved black base, then place it on blue pad.",
+    "Lift the red block, do a handover avoiding the blue globe, then place it onto the blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe sitting on curved black base, and place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the blue globe with colorful continents, place on blue pad.",
+    "Grab red block, pass it along a path clear of the compact globe with labeled countries, place onto blue pad.",
+    "Secure the red block, transfer it away from the earth-shaped globe with black frame, and drop it onto the blue pad.",
+    "Take the red block from the table, pass it clear of the blue sphere with countries marked, and put it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the small world globe, set on blue pad.",
+    "Pick the red block, keep the transfer away from the colorful globe on black stand, and place it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the hand-sized globe on sturdy stand, then place on blue pad.",
+    "Use left arm to pick red block, avoid the compact globe with labeled countries during handoff, right arm place blue pad.",
+    "Left arm grips red block, hands off away from the small sphere showing earth map, right arm places on blue pad.",
+    "Left arm lifts red block, handover away from the small sphere showing earth map, right arm sets it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the small sphere showing earth map, then place on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the earth-shaped globe with black frame, place blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the blue sphere with countries marked, then places on blue pad.",
+    "Left arm take red block, keep the pass away from the globe with curved black base, right arm puts on blue pad.",
+    "Take the red block from the table, hand over away from the globe sitting on curved black base, drop on blue pad.",
+    "Grab the red block, transfer it while steering clear of the globe with curved black base, place on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the globe sitting on curved black base, then sets it on blue pad.",
+    "Lift the red block, hand it across away from the small sphere showing earth map, then place it on blue pad.",
+    "Lift the red block, do a handover avoiding the small world globe, then place it onto the blue pad.",
+    "Pick up the red block, transfer it while staying clear of the colorful globe on black stand, and place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe sitting on curved black base, place on blue pad.",
+    "Grab red block, pass it along a path clear of the hand-sized globe on sturdy stand, place onto blue pad.",
+    "Secure the red block, transfer it away from the globe featuring bright country colors, and drop it onto the blue pad.",
+    "Take the red block from the table, pass it clear of the small world globe, and put it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe with curved black base, set on blue pad.",
+    "Pick the red block, keep the transfer away from the blue globe, and place it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the small world globe, then place on blue pad.",
+    "Use left arm to pick red block, avoid the globe with curved black base during handoff, right arm place blue pad.",
+    "Left arm grips red block, hands off away from the globe with curved black base, right arm places on blue pad.",
+    "Left arm lifts red block, handover away from the hand-sized globe on sturdy stand, right arm sets it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the blue globe, then place on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the colorful globe on black stand, place blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the hand-sized globe on sturdy stand, then places on blue pad.",
+    "Left arm take red block, keep the pass away from the small world globe, right arm puts on blue pad.",
+    "Take the red block from the table, hand over away from the blue sphere with countries marked, drop on blue pad.",
+    "Grab the red block, transfer it while steering clear of the globe sitting on curved black base, place on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the globe sitting on curved black base, then sets it on blue pad.",
+    "Lift the red block, hand it across away from the earth-shaped globe with black frame, then place it on blue pad.",
+    "Lift the red block, do a handover avoiding the small sphere showing earth map, then place it onto the blue pad.",
+    "Pick up the red block, transfer it while staying clear of the colorful globe on black stand, and place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the blue globe with colorful continents, place on blue pad.",
+    "Grab red block, pass it along a path clear of the blue sphere with countries marked, place onto blue pad.",
+    "Secure the red block, transfer it away from the small sphere showing earth map, and drop it onto the blue pad.",
+    "Take the red block from the table, pass it clear of the globe featuring bright country colors, and put it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the small world globe, set on blue pad.",
+    "Pick the red block, keep the transfer away from the blue sphere with countries marked, and place it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the blue sphere with countries marked, then place on blue pad.",
+    "Use left arm to pick red block, avoid the globe with curved black base during handoff, right arm place blue pad.",
+    "Left arm grips red block, hands off away from the earth-shaped globe with black frame, right arm places on blue pad.",
+    "Left arm lifts red block, handover away from the earth-shaped globe with black frame, right arm sets it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the compact globe with labeled countries, then place on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the hand-sized globe on sturdy stand, place blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the blue sphere with countries marked, then places on blue pad.",
+    "Left arm take red block, keep the pass away from the hand-sized globe on sturdy stand, right arm puts on blue pad.",
+    "Take the red block from the table, hand over away from the small world globe, drop on blue pad.",
+    "Grab the red block, transfer it while steering clear of the globe with curved black base, place on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the blue globe, then sets it on blue pad.",
+    "Lift the red block, hand it across away from the hand-sized globe on sturdy stand, then place it on blue pad.",
+    "Lift the red block, do a handover avoiding the globe with curved black base, then place it onto the blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe with curved black base, and place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the small world globe, place on blue pad.",
+    "Grab red block, pass it along a path clear of the blue globe with colorful continents, place onto blue pad.",
+    "Secure the red block, transfer it away from the globe with curved black base, and drop it onto the blue pad.",
+    "Take the red block from the table, pass it clear of the blue globe with colorful continents, and put it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the blue globe with colorful continents, set on blue pad.",
+    "Pick the red block, keep the transfer away from the blue globe, and place it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the small sphere showing earth map, then place on blue pad.",
+    "Use left arm to pick red block, avoid the globe featuring bright country colors during handoff, right arm place blue pad.",
+    "Left arm grips red block, hands off away from the compact globe with labeled countries, right arm places on blue pad.",
+    "Left arm lifts red block, handover away from the compact globe with labeled countries, right arm sets it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the small sphere showing earth map, then place on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the earth-shaped globe with black frame, place blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the small sphere showing earth map, then places on blue pad.",
+    "Left arm take red block, keep the pass away from the small world globe, right arm puts on blue pad.",
+    "Take the red block from the table, hand over away from the blue globe with colorful continents, drop on blue pad.",
+    "Grab the red block, transfer it while steering clear of the blue globe, place on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the globe sitting on curved black base, then sets it on blue pad.",
+    "Lift the red block, hand it across away from the globe sitting on curved black base, then place it on blue pad.",
+    "Lift the red block, do a handover avoiding the blue globe with colorful continents, then place it onto the blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe sitting on curved black base, and place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe sitting on curved black base, place on blue pad.",
+    "Grab red block, pass it along a path clear of the blue sphere with countries marked, place onto blue pad.",
+    "Secure the red block, transfer it away from the globe with curved black base, and drop it onto the blue pad.",
+    "Take the red block from the table, pass it clear of the globe with curved black base, and put it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the small world globe, set on blue pad.",
+    "Pick the red block, keep the transfer away from the globe with curved black base, and place it on blue pad."
+  ],
+  "unseen": [
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad."
+  ]
+}
\ No newline at end of file
diff --git a/handover_block_wp1/handover_block_wp1/instructions/episode50.json b/handover_block_wp1/handover_block_wp1/instructions/episode50.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f2bdc76f1b1e097f346f8ecb0e6cf5a6aa7e7b1
--- /dev/null
+++ b/handover_block_wp1/handover_block_wp1/instructions/episode50.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab red block, pass it along a path clear of the earth-shaped globe with black frame, place onto blue pad.",
+    "Left arm take red block, keep the pass away from the blue sphere with countries marked, right arm puts on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the colorful globe on black stand, then sets it on blue pad.",
+    "Take the red block from the table, pass it clear of the compact globe with labeled countries, and put it on blue pad.",
+    "Secure the red block, transfer it away from the earth-shaped globe with black frame, and drop it onto the blue pad.",
+    "Grab the red block, transfer it while steering clear of the globe sitting on curved black base, place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe with curved black base, set on blue pad.",
+    "Left arm grips red block, hands off away from the hand-sized globe on sturdy stand, right arm places on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the small world globe, then place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the colorful globe on black stand, and place on blue pad.",
+    "Take the red block from the table, hand over away from the blue globe, drop on blue pad.",
+    "Lift the red block, hand it across away from the blue sphere with countries marked, then place it on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the blue sphere with countries marked, place on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe featuring bright country colors, place blue pad.",
+    "Use left arm to pick red block, avoid the globe sitting on curved black base during handoff, right arm place blue pad.",
+    "Pick the red block, keep the transfer away from the colorful globe on black stand, and place it on blue pad.",
+    "Lift the red block, do a handover avoiding the globe sitting on curved black base, then place it onto the blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the compact globe with labeled countries, then places on blue pad.",
+    "Left arm lifts red block, handover away from the small world globe, right arm sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the blue globe with colorful continents, then place on blue pad.",
+    "Grab red block, pass it along a path clear of the small sphere showing earth map, place onto blue pad.",
+    "Left arm take red block, keep the pass away from the blue globe, right arm puts on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the blue globe with colorful continents, then sets it on blue pad.",
+    "Take the red block from the table, pass it clear of the blue sphere with countries marked, and put it on blue pad.",
+    "Secure the red block, transfer it away from the small sphere showing earth map, and drop it onto the blue pad.",
+    "Grab the red block, transfer it while steering clear of the globe featuring bright country colors, place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the compact globe with labeled countries, set on blue pad.",
+    "Left arm grips red block, hands off away from the small sphere showing earth map, right arm places on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the blue globe, then place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe featuring bright country colors, and place on blue pad.",
+    "Take the red block from the table, hand over away from the colorful globe on black stand, drop on blue pad.",
+    "Lift the red block, hand it across away from the globe sitting on curved black base, then place it on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the earth-shaped globe with black frame, place on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the colorful globe on black stand, place blue pad.",
+    "Use left arm to pick red block, avoid the blue globe with colorful continents during handoff, right arm place blue pad.",
+    "Pick the red block, keep the transfer away from the globe sitting on curved black base, and place it on blue pad.",
+    "Lift the red block, do a handover avoiding the blue globe, then place it onto the blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the small world globe, then places on blue pad.",
+    "Left arm lifts red block, handover away from the globe with curved black base, right arm sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the blue globe with colorful continents, then place on blue pad.",
+    "Grab red block, pass it along a path clear of the globe with curved black base, place onto blue pad.",
+    "Left arm take red block, keep the pass away from the earth-shaped globe with black frame, right arm puts on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the earth-shaped globe with black frame, then sets it on blue pad.",
+    "Take the red block from the table, pass it clear of the globe sitting on curved black base, and put it on blue pad.",
+    "Secure the red block, transfer it away from the globe featuring bright country colors, and drop it onto the blue pad.",
+    "Grab the red block, transfer it while steering clear of the hand-sized globe on sturdy stand, place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the earth-shaped globe with black frame, set on blue pad.",
+    "Left arm grips red block, hands off away from the globe sitting on curved black base, right arm places on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the hand-sized globe on sturdy stand, then place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the compact globe with labeled countries, and place on blue pad.",
+    "Take the red block from the table, hand over away from the globe featuring bright country colors, drop on blue pad.",
+    "Lift the red block, hand it across away from the globe with curved black base, then place it on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the blue globe, place on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the blue globe, place blue pad.",
+    "Use left arm to pick red block, avoid the globe sitting on curved black base during handoff, right arm place blue pad.",
+    "Pick the red block, keep the transfer away from the small sphere showing earth map, and place it on blue pad.",
+    "Lift the red block, do a handover avoiding the small sphere showing earth map, then place it onto the blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the small sphere showing earth map, then places on blue pad.",
+    "Left arm lifts red block, handover away from the globe sitting on curved black base, right arm sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the blue globe with colorful continents, then place on blue pad.",
+    "Grab red block, pass it along a path clear of the colorful globe on black stand, place onto blue pad.",
+    "Left arm take red block, keep the pass away from the blue globe, right arm puts on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the hand-sized globe on sturdy stand, then sets it on blue pad.",
+    "Take the red block from the table, pass it clear of the small world globe, and put it on blue pad.",
+    "Secure the red block, transfer it away from the globe featuring bright country colors, and drop it onto the blue pad.",
+    "Grab the red block, transfer it while steering clear of the hand-sized globe on sturdy stand, place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe sitting on curved black base, set on blue pad.",
+    "Left arm grips red block, hands off away from the compact globe with labeled countries, right arm places on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the globe with curved black base, then place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the blue sphere with countries marked, and place on blue pad.",
+    "Take the red block from the table, hand over away from the blue globe, drop on blue pad.",
+    "Lift the red block, hand it across away from the globe featuring bright country colors, then place it on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the colorful globe on black stand, place on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the blue globe with colorful continents, place blue pad.",
+    "Use left arm to pick red block, avoid the colorful globe on black stand during handoff, right arm place blue pad.",
+    "Pick the red block, keep the transfer away from the earth-shaped globe with black frame, and place it on blue pad.",
+    "Lift the red block, do a handover avoiding the earth-shaped globe with black frame, then place it onto the blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the blue globe, then places on blue pad.",
+    "Left arm lifts red block, handover away from the earth-shaped globe with black frame, right arm sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe featuring bright country colors, then place on blue pad.",
+    "Grab red block, pass it along a path clear of the globe with curved black base, place onto blue pad.",
+    "Left arm take red block, keep the pass away from the earth-shaped globe with black frame, right arm puts on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the globe with curved black base, then sets it on blue pad.",
+    "Take the red block from the table, pass it clear of the blue globe, and put it on blue pad.",
+    "Secure the red block, transfer it away from the colorful globe on black stand, and drop it onto the blue pad.",
+    "Grab the red block, transfer it while steering clear of the small sphere showing earth map, place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the compact globe with labeled countries, set on blue pad.",
+    "Left arm grips red block, hands off away from the globe with curved black base, right arm places on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the small world globe, then place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the hand-sized globe on sturdy stand, and place on blue pad.",
+    "Take the red block from the table, hand over away from the small world globe, drop on blue pad.",
+    "Lift the red block, hand it across away from the blue globe, then place it on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the earth-shaped globe with black frame, place on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe sitting on curved black base, place blue pad.",
+    "Use left arm to pick red block, avoid the hand-sized globe on sturdy stand during handoff, right arm place blue pad.",
+    "Pick the red block, keep the transfer away from the small world globe, and place it on blue pad.",
+    "Lift the red block, do a handover avoiding the globe with curved black base, then place it onto the blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the blue globe, then places on blue pad.",
+    "Left arm lifts red block, handover away from the globe sitting on curved black base, right arm sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe sitting on curved black base, then place on blue pad."
+  ],
+  "unseen": [
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad."
+  ]
+}
\ No newline at end of file
diff --git a/handover_block_wp1/handover_block_wp1/instructions/episode51.json b/handover_block_wp1/handover_block_wp1/instructions/episode51.json
new file mode 100644
index 0000000000000000000000000000000000000000..00dbb1689991facf3278c01fa878ecd762c4d8b7
--- /dev/null
+++ b/handover_block_wp1/handover_block_wp1/instructions/episode51.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Left arm grips red block, hands off away from the colorful globe on black stand, right arm places on blue pad.",
+    "Left arm take red block, keep the pass away from the globe featuring bright country colors, right arm puts on blue pad.",
+    "Secure the red block, transfer it away from the blue globe, and drop it onto the blue pad.",
+    "Lift the red block, hand it across away from the blue globe, then place it on blue pad.",
+    "Take the red block from the table, hand over away from the globe with curved black base, drop on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the hand-sized globe on sturdy stand, place on blue pad.",
+    "Left arm lifts red block, handover away from the blue globe, right arm sets it on blue pad.",
+    "Use left arm to pick red block, avoid the blue globe with colorful continents during handoff, right arm place blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the small world globe, set on blue pad.",
+    "Lift the red block, do a handover avoiding the blue globe with colorful continents, then place it onto the blue pad.",
+    "Pick the red block, keep the transfer away from the globe featuring bright country colors, and place it on blue pad.",
+    "Grab red block, pass it along a path clear of the compact globe with labeled countries, place onto blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe with curved black base, then place on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the colorful globe on black stand, place blue pad.",
+    "Left arm grabs red block, right arm receives it away from the small sphere showing earth map, then sets it on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the hand-sized globe on sturdy stand, and place on blue pad.",
+    "Take the red block from the table, pass it clear of the colorful globe on black stand, and put it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the globe sitting on curved black base, place on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe sitting on curved black base, then places on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the earth-shaped globe with black frame, then place on blue pad.",
+    "Left arm grips red block, hands off away from the globe sitting on curved black base, right arm places on blue pad.",
+    "Left arm take red block, keep the pass away from the blue sphere with countries marked, right arm puts on blue pad.",
+    "Secure the red block, transfer it away from the globe featuring bright country colors, and drop it onto the blue pad.",
+    "Lift the red block, hand it across away from the blue sphere with countries marked, then place it on blue pad.",
+    "Take the red block from the table, hand over away from the globe featuring bright country colors, drop on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the small world globe, place on blue pad.",
+    "Left arm lifts red block, handover away from the earth-shaped globe with black frame, right arm sets it on blue pad.",
+    "Use left arm to pick red block, avoid the globe featuring bright country colors during handoff, right arm place blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe featuring bright country colors, set on blue pad.",
+    "Lift the red block, do a handover avoiding the small sphere showing earth map, then place it onto the blue pad.",
+    "Pick the red block, keep the transfer away from the blue globe, and place it on blue pad.",
+    "Grab red block, pass it along a path clear of the globe with curved black base, place onto blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the blue sphere with countries marked, then place on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe sitting on curved black base, place blue pad.",
+    "Left arm grabs red block, right arm receives it away from the hand-sized globe on sturdy stand, then sets it on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe with curved black base, and place on blue pad.",
+    "Take the red block from the table, pass it clear of the blue globe with colorful continents, and put it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the small world globe, place on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the small world globe, then places on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the blue globe, then place on blue pad.",
+    "Left arm grips red block, hands off away from the blue globe, right arm places on blue pad.",
+    "Left arm take red block, keep the pass away from the compact globe with labeled countries, right arm puts on blue pad.",
+    "Secure the red block, transfer it away from the globe featuring bright country colors, and drop it onto the blue pad.",
+    "Lift the red block, hand it across away from the globe featuring bright country colors, then place it on blue pad.",
+    "Take the red block from the table, hand over away from the globe with curved black base, drop on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the colorful globe on black stand, place on blue pad.",
+    "Left arm lifts red block, handover away from the blue globe, right arm sets it on blue pad.",
+    "Use left arm to pick red block, avoid the compact globe with labeled countries during handoff, right arm place blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the small world globe, set on blue pad.",
+    "Lift the red block, do a handover avoiding the small world globe, then place it onto the blue pad.",
+    "Pick the red block, keep the transfer away from the hand-sized globe on sturdy stand, and place it on blue pad.",
+    "Grab red block, pass it along a path clear of the blue globe, place onto blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe featuring bright country colors, then place on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the blue globe with colorful continents, place blue pad.",
+    "Left arm grabs red block, right arm receives it away from the hand-sized globe on sturdy stand, then sets it on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe featuring bright country colors, and place on blue pad.",
+    "Take the red block from the table, pass it clear of the globe sitting on curved black base, and put it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the blue globe with colorful continents, place on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the earth-shaped globe with black frame, then places on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the globe with curved black base, then place on blue pad.",
+    "Left arm grips red block, hands off away from the blue sphere with countries marked, right arm places on blue pad.",
+    "Left arm take red block, keep the pass away from the blue globe with colorful continents, right arm puts on blue pad.",
+    "Secure the red block, transfer it away from the hand-sized globe on sturdy stand, and drop it onto the blue pad.",
+    "Lift the red block, hand it across away from the small world globe, then place it on blue pad.",
+    "Take the red block from the table, hand over away from the blue sphere with countries marked, drop on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the earth-shaped globe with black frame, place on blue pad.",
+    "Left arm lifts red block, handover away from the small world globe, right arm sets it on blue pad.",
+    "Use left arm to pick red block, avoid the globe sitting on curved black base during handoff, right arm place blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the small world globe, set on blue pad.",
+    "Lift the red block, do a handover avoiding the hand-sized globe on sturdy stand, then place it onto the blue pad.",
+    "Pick the red block, keep the transfer away from the small world globe, and place it on blue pad.",
+    "Grab red block, pass it along a path clear of the blue globe with colorful continents, place onto blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the compact globe with labeled countries, then place on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the blue globe with colorful continents, place blue pad.",
+    "Left arm grabs red block, right arm receives it away from the globe with curved black base, then sets it on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the blue globe, and place on blue pad.",
+    "Take the red block from the table, pass it clear of the compact globe with labeled countries, and put it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the blue globe with colorful continents, place on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the compact globe with labeled countries, then places on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the globe featuring bright country colors, then place on blue pad.",
+    "Left arm grips red block, hands off away from the globe featuring bright country colors, right arm places on blue pad.",
+    "Left arm take red block, keep the pass away from the globe with curved black base, right arm puts on blue pad.",
+    "Secure the red block, transfer it away from the compact globe with labeled countries, and drop it onto the blue pad.",
+    "Lift the red block, hand it across away from the globe with curved black base, then place it on blue pad.",
+    "Take the red block from the table, hand over away from the compact globe with labeled countries, drop on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the blue globe, place on blue pad.",
+    "Left arm lifts red block, handover away from the blue globe, right arm sets it on blue pad.",
+    "Use left arm to pick red block, avoid the compact globe with labeled countries during handoff, right arm place blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the blue sphere with countries marked, set on blue pad.",
+    "Lift the red block, do a handover avoiding the small sphere showing earth map, then place it onto the blue pad.",
+    "Pick the red block, keep the transfer away from the blue sphere with countries marked, and place it on blue pad.",
+    "Grab red block, pass it along a path clear of the blue globe, place onto blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the earth-shaped globe with black frame, then place on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the small world globe, place blue pad.",
+    "Left arm grabs red block, right arm receives it away from the hand-sized globe on sturdy stand, then sets it on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the hand-sized globe on sturdy stand, and place on blue pad.",
+    "Take the red block from the table, pass it clear of the small sphere showing earth map, and put it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the compact globe with labeled countries, place on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the blue globe, then places on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the earth-shaped globe with black frame, then place on blue pad."
+  ],
+  "unseen": [
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad."
+  ]
+}
\ No newline at end of file
diff --git a/handover_block_wp1/handover_block_wp1/instructions/episode52.json b/handover_block_wp1/handover_block_wp1/instructions/episode52.json
new file mode 100644
index 0000000000000000000000000000000000000000..793b1728f6f7a6e6f82cc14f829de692c67fa3f7
--- /dev/null
+++ b/handover_block_wp1/handover_block_wp1/instructions/episode52.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the red block, hand it over while keeping clear of the globe featuring bright country colors, then place on blue pad.",
+    "Left arm lifts red block, handover away from the blue sphere with countries marked, right arm sets it on blue pad.",
+    "Left arm grips red block, hands off away from the globe sitting on curved black base, right arm places on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the earth-shaped globe with black frame, place on blue pad.",
+    "Lift the red block, do a handover avoiding the small sphere showing earth map, then place it onto the blue pad.",
+    "Lift the red block, hand it across away from the earth-shaped globe with black frame, then place it on blue pad.",
+    "Take the red block from the table, pass it clear of the globe featuring bright country colors, and put it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the blue sphere with countries marked, then place on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the blue globe with colorful continents, then sets it on blue pad.",
+    "Take the red block from the table, hand over away from the small sphere showing earth map, drop on blue pad.",
+    "Pick the red block, keep the transfer away from the hand-sized globe on sturdy stand, and place it on blue pad.",
+    "Left arm take red block, keep the pass away from the hand-sized globe on sturdy stand, right arm puts on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the blue globe with colorful continents, and place on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe featuring bright country colors, then places on blue pad.",
+    "Use left arm to pick red block, avoid the globe sitting on curved black base during handoff, right arm place blue pad.",
+    "With left arm, lift red block, hand to right arm away from the small world globe, place blue pad.",
+    "Grab red block, pass it along a path clear of the earth-shaped globe with black frame, place onto blue pad.",
+    "Grab the red block, transfer it while steering clear of the globe featuring bright country colors, place on blue pad.",
+    "Secure the red block, transfer it away from the earth-shaped globe with black frame, and drop it onto the blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the compact globe with labeled countries, set on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the small world globe, then place on blue pad.",
+    "Left arm lifts red block, handover away from the blue globe with colorful continents, right arm sets it on blue pad.",
+    "Left arm grips red block, hands off away from the blue sphere with countries marked, right arm places on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the colorful globe on black stand, place on blue pad.",
+    "Lift the red block, do a handover avoiding the globe featuring bright country colors, then place it onto the blue pad.",
+    "Lift the red block, hand it across away from the blue sphere with countries marked, then place it on blue pad.",
+    "Take the red block from the table, pass it clear of the earth-shaped globe with black frame, and put it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the blue globe, then place on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the colorful globe on black stand, then sets it on blue pad.",
+    "Take the red block from the table, hand over away from the small sphere showing earth map, drop on blue pad.",
+    "Pick the red block, keep the transfer away from the hand-sized globe on sturdy stand, and place it on blue pad.",
+    "Left arm take red block, keep the pass away from the small world globe, right arm puts on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the small sphere showing earth map, and place on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the blue sphere with countries marked, then places on blue pad.",
+    "Use left arm to pick red block, avoid the small sphere showing earth map during handoff, right arm place blue pad.",
+    "With left arm, lift red block, hand to right arm away from the colorful globe on black stand, place blue pad.",
+    "Grab red block, pass it along a path clear of the earth-shaped globe with black frame, place onto blue pad.",
+    "Grab the red block, transfer it while steering clear of the hand-sized globe on sturdy stand, place on blue pad.",
+    "Secure the red block, transfer it away from the blue sphere with countries marked, and drop it onto the blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the blue globe with colorful continents, set on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the small world globe, then place on blue pad.",
+    "Left arm lifts red block, handover away from the globe featuring bright country colors, right arm sets it on blue pad.",
+    "Left arm grips red block, hands off away from the blue sphere with countries marked, right arm places on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe featuring bright country colors, place on blue pad.",
+    "Lift the red block, do a handover avoiding the small sphere showing earth map, then place it onto the blue pad.",
+    "Lift the red block, hand it across away from the hand-sized globe on sturdy stand, then place it on blue pad.",
+    "Take the red block from the table, pass it clear of the hand-sized globe on sturdy stand, and put it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the compact globe with labeled countries, then place on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the hand-sized globe on sturdy stand, then sets it on blue pad.",
+    "Take the red block from the table, hand over away from the globe with curved black base, drop on blue pad.",
+    "Pick the red block, keep the transfer away from the blue globe, and place it on blue pad.",
+    "Left arm take red block, keep the pass away from the globe sitting on curved black base, right arm puts on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the blue globe with colorful continents, and place on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the colorful globe on black stand, then places on blue pad.",
+    "Use left arm to pick red block, avoid the blue sphere with countries marked during handoff, right arm place blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe sitting on curved black base, place blue pad.",
+    "Grab red block, pass it along a path clear of the globe sitting on curved black base, place onto blue pad.",
+    "Grab the red block, transfer it while steering clear of the blue globe with colorful continents, place on blue pad.",
+    "Secure the red block, transfer it away from the earth-shaped globe with black frame, and drop it onto the blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe featuring bright country colors, set on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the blue globe, then place on blue pad.",
+    "Left arm lifts red block, handover away from the globe sitting on curved black base, right arm sets it on blue pad.",
+    "Left arm grips red block, hands off away from the small sphere showing earth map, right arm places on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe sitting on curved black base, place on blue pad.",
+    "Lift the red block, do a handover avoiding the small sphere showing earth map, then place it onto the blue pad.",
+    "Lift the red block, hand it across away from the colorful globe on black stand, then place it on blue pad.",
+    "Take the red block from the table, pass it clear of the blue globe, and put it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the blue globe with colorful continents, then place on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the hand-sized globe on sturdy stand, then sets it on blue pad.",
+    "Take the red block from the table, hand over away from the blue globe, drop on blue pad.",
+    "Pick the red block, keep the transfer away from the compact globe with labeled countries, and place it on blue pad.",
+    "Left arm take red block, keep the pass away from the globe with curved black base, right arm puts on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the colorful globe on black stand, and place on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the earth-shaped globe with black frame, then places on blue pad.",
+    "Use left arm to pick red block, avoid the globe featuring bright country colors during handoff, right arm place blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe sitting on curved black base, place blue pad.",
+    "Grab red block, pass it along a path clear of the globe sitting on curved black base, place onto blue pad.",
+    "Grab the red block, transfer it while steering clear of the small world globe, place on blue pad.",
+    "Secure the red block, transfer it away from the blue sphere with countries marked, and drop it onto the blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the blue globe with colorful continents, set on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the small sphere showing earth map, then place on blue pad.",
+    "Left arm lifts red block, handover away from the compact globe with labeled countries, right arm sets it on blue pad.",
+    "Left arm grips red block, hands off away from the globe featuring bright country colors, right arm places on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the colorful globe on black stand, place on blue pad.",
+    "Lift the red block, do a handover avoiding the globe featuring bright country colors, then place it onto the blue pad.",
+    "Lift the red block, hand it across away from the blue globe, then place it on blue pad.",
+    "Take the red block from the table, pass it clear of the small world globe, and put it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the earth-shaped globe with black frame, then place on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the blue sphere with countries marked, then sets it on blue pad.",
+    "Take the red block from the table, hand over away from the small world globe, drop on blue pad.",
+    "Pick the red block, keep the transfer away from the small world globe, and place it on blue pad.",
+    "Left arm take red block, keep the pass away from the globe featuring bright country colors, right arm puts on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the colorful globe on black stand, and place on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the colorful globe on black stand, then places on blue pad.",
+    "Use left arm to pick red block, avoid the blue globe during handoff, right arm place blue pad.",
+    "With left arm, lift red block, hand to right arm away from the blue globe with colorful continents, place blue pad.",
+    "Grab red block, pass it along a path clear of the blue globe, place onto blue pad.",
+    "Grab the red block, transfer it while steering clear of the globe featuring bright country colors, place on blue pad.",
+    "Secure the red block, transfer it away from the compact globe with labeled countries, and drop it onto the blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the blue globe, set on blue pad."
+  ],
+  "unseen": [
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad."
+  ]
+}
\ No newline at end of file
diff --git a/handover_block_wp1/handover_block_wp1/instructions/episode53.json b/handover_block_wp1/handover_block_wp1/instructions/episode53.json
new file mode 100644
index 0000000000000000000000000000000000000000..c13919bf175f7b1ad9d0cb2325aba0b056ec6655
--- /dev/null
+++ b/handover_block_wp1/handover_block_wp1/instructions/episode53.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab red block, pass it along a path clear of the globe with curved black base, place onto blue pad.",
+    "Take the red block from the table, pass it clear of the globe featuring bright country colors, and put it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe with curved black base, then places on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the compact globe with labeled countries, and place on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the colorful globe on black stand, then place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe featuring bright country colors, place on blue pad.",
+    "Take the red block from the table, hand over away from the blue globe with colorful continents, drop on blue pad.",
+    "Left arm grips red block, hands off away from the small sphere showing earth map, right arm places on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the colorful globe on black stand, then place on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the compact globe with labeled countries, place blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the colorful globe on black stand, set on blue pad.",
+    "Lift the red block, hand it across away from the blue globe with colorful continents, then place it on blue pad.",
+    "Left arm take red block, keep the pass away from the colorful globe on black stand, right arm puts on blue pad.",
+    "Secure the red block, transfer it away from the colorful globe on black stand, and drop it onto the blue pad.",
+    "Lift the red block, do a handover avoiding the earth-shaped globe with black frame, then place it onto the blue pad.",
+    "Grab the red block, transfer it while steering clear of the small world globe, place on blue pad.",
+    "Left arm lifts red block, handover away from the earth-shaped globe with black frame, right arm sets it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the globe with curved black base, then sets it on blue pad.",
+    "Use left arm to pick red block, avoid the globe with curved black base during handoff, right arm place blue pad.",
+    "Pick the red block, keep the transfer away from the small sphere showing earth map, and place it on blue pad.",
+    "Grab red block, pass it along a path clear of the colorful globe on black stand, place onto blue pad.",
+    "Take the red block from the table, pass it clear of the earth-shaped globe with black frame, and put it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the blue globe with colorful continents, then places on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the blue sphere with countries marked, and place on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the blue globe with colorful continents, then place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the blue globe with colorful continents, place on blue pad.",
+    "Take the red block from the table, hand over away from the earth-shaped globe with black frame, drop on blue pad.",
+    "Left arm grips red block, hands off away from the hand-sized globe on sturdy stand, right arm places on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the blue globe, then place on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the small sphere showing earth map, place blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the blue globe, set on blue pad.",
+    "Lift the red block, hand it across away from the blue globe with colorful continents, then place it on blue pad.",
+    "Left arm take red block, keep the pass away from the earth-shaped globe with black frame, right arm puts on blue pad.",
+    "Secure the red block, transfer it away from the globe featuring bright country colors, and drop it onto the blue pad.",
+    "Lift the red block, do a handover avoiding the hand-sized globe on sturdy stand, then place it onto the blue pad.",
+    "Grab the red block, transfer it while steering clear of the globe featuring bright country colors, place on blue pad.",
+    "Left arm lifts red block, handover away from the globe with curved black base, right arm sets it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the compact globe with labeled countries, then sets it on blue pad.",
+    "Use left arm to pick red block, avoid the globe featuring bright country colors during handoff, right arm place blue pad.",
+    "Pick the red block, keep the transfer away from the earth-shaped globe with black frame, and place it on blue pad.",
+    "Grab red block, pass it along a path clear of the compact globe with labeled countries, place onto blue pad.",
+    "Take the red block from the table, pass it clear of the blue sphere with countries marked, and put it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe sitting on curved black base, then places on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the colorful globe on black stand, and place on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the small world globe, then place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the blue globe with colorful continents, place on blue pad.",
+    "Take the red block from the table, hand over away from the small world globe, drop on blue pad.",
+    "Left arm grips red block, hands off away from the colorful globe on black stand, right arm places on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the colorful globe on black stand, then place on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the blue globe with colorful continents, place blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the blue globe with colorful continents, set on blue pad.",
+    "Lift the red block, hand it across away from the colorful globe on black stand, then place it on blue pad.",
+    "Left arm take red block, keep the pass away from the colorful globe on black stand, right arm puts on blue pad.",
+    "Secure the red block, transfer it away from the globe with curved black base, and drop it onto the blue pad.",
+    "Lift the red block, do a handover avoiding the compact globe with labeled countries, then place it onto the blue pad.",
+    "Grab the red block, transfer it while steering clear of the blue globe, place on blue pad.",
+    "Left arm lifts red block, handover away from the globe sitting on curved black base, right arm sets it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the colorful globe on black stand, then sets it on blue pad.",
+    "Use left arm to pick red block, avoid the small world globe during handoff, right arm place blue pad.",
+    "Pick the red block, keep the transfer away from the blue globe, and place it on blue pad.",
+    "Grab red block, pass it along a path clear of the globe featuring bright country colors, place onto blue pad.",
+    "Take the red block from the table, pass it clear of the blue globe, and put it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe featuring bright country colors, then places on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the small sphere showing earth map, and place on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe sitting on curved black base, then place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the hand-sized globe on sturdy stand, place on blue pad.",
+    "Take the red block from the table, hand over away from the small sphere showing earth map, drop on blue pad.",
+    "Left arm grips red block, hands off away from the blue globe, right arm places on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the blue globe with colorful continents, then place on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the small sphere showing earth map, place blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe with curved black base, set on blue pad.",
+    "Lift the red block, hand it across away from the globe sitting on curved black base, then place it on blue pad.",
+    "Left arm take red block, keep the pass away from the compact globe with labeled countries, right arm puts on blue pad.",
+    "Secure the red block, transfer it away from the globe with curved black base, and drop it onto the blue pad.",
+    "Lift the red block, do a handover avoiding the blue globe, then place it onto the blue pad.",
+    "Grab the red block, transfer it while steering clear of the globe sitting on curved black base, place on blue pad.",
+    "Left arm lifts red block, handover away from the globe with curved black base, right arm sets it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the blue globe with colorful continents, then sets it on blue pad.",
+    "Use left arm to pick red block, avoid the compact globe with labeled countries during handoff, right arm place blue pad.",
+    "Pick the red block, keep the transfer away from the globe featuring bright country colors, and place it on blue pad.",
+    "Grab red block, pass it along a path clear of the blue globe, place onto blue pad.",
+    "Take the red block from the table, pass it clear of the earth-shaped globe with black frame, and put it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the earth-shaped globe with black frame, then places on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the blue globe, and place on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the small world globe, then place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the small world globe, place on blue pad.",
+    "Take the red block from the table, hand over away from the small sphere showing earth map, drop on blue pad.",
+    "Left arm grips red block, hands off away from the hand-sized globe on sturdy stand, right arm places on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the blue globe, then place on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the hand-sized globe on sturdy stand, place blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the blue globe, set on blue pad.",
+    "Lift the red block, hand it across away from the blue sphere with countries marked, then place it on blue pad.",
+    "Left arm take red block, keep the pass away from the hand-sized globe on sturdy stand, right arm puts on blue pad.",
+    "Secure the red block, transfer it away from the globe sitting on curved black base, and drop it onto the blue pad.",
+    "Lift the red block, do a handover avoiding the hand-sized globe on sturdy stand, then place it onto the blue pad.",
+    "Grab the red block, transfer it while steering clear of the small world globe, place on blue pad.",
+    "Left arm lifts red block, handover away from the colorful globe on black stand, right arm sets it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the globe with curved black base, then sets it on blue pad.",
+    "Use left arm to pick red block, avoid the globe with curved black base during handoff, right arm place blue pad.",
+    "Pick the red block, keep the transfer away from the blue globe, and place it on blue pad."
+  ],
+  "unseen": [
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad."
+  ]
+}
\ No newline at end of file
diff --git a/handover_block_wp1/handover_block_wp1/instructions/episode54.json b/handover_block_wp1/handover_block_wp1/instructions/episode54.json
new file mode 100644
index 0000000000000000000000000000000000000000..3fe4e2c0fbf43d383048ca0d457ea8934557e1ea
--- /dev/null
+++ b/handover_block_wp1/handover_block_wp1/instructions/episode54.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the red block, transfer it while staying clear of the globe for geographic reference, and place on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the decor piece globe, then place on blue pad.",
+    "Lift the red block, do a handover avoiding the wooden globe with metal base, then place it onto the blue pad.",
+    "Left arm lifts red block, handover away from the globe for geographic reference, right arm sets it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the spinning brown globe, then sets it on blue pad.",
+    "Take the red block from the table, pass it clear of the wooden globe with metal base, and put it on blue pad.",
+    "Pick the red block, keep the transfer away from the globe with smooth surface, and place it on blue pad.",
+    "Take the red block from the table, hand over away from the round globe with sturdy base, drop on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the round globe with sturdy base, then place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe for geographic reference, set on blue pad.",
+    "Grab red block, pass it along a path clear of the globe with smooth surface, place onto blue pad.",
+    "Use left arm to pick red block, avoid the wooden globe with metal base during handoff, right arm place blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the smooth beige globe with continents, then places on blue pad.",
+    "Lift the red block, hand it across away from the globe with smooth surface, then place it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the Earth map globe, place on blue pad.",
+    "Left arm take red block, keep the pass away from the decor piece globe, right arm puts on blue pad.",
+    "Secure the red block, transfer it away from the decor piece globe, and drop it onto the blue pad.",
+    "Left arm grips red block, hands off away from the Earth map globe, right arm places on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the round globe with sturdy base, place on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the brown globe on black stand, place blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe with smooth surface, and place on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the round globe with sturdy base, then place on blue pad.",
+    "Lift the red block, do a handover avoiding the globe with curved black stand, then place it onto the blue pad.",
+    "Left arm lifts red block, handover away from the spinning brown globe, right arm sets it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the smooth beige globe with continents, then sets it on blue pad.",
+    "Take the red block from the table, pass it clear of the smooth beige globe with continents, and put it on blue pad.",
+    "Pick the red block, keep the transfer away from the round Earth globe, and place it on blue pad.",
+    "Take the red block from the table, hand over away from the spinning brown globe, drop on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the decor piece globe, then place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the spinning brown globe, set on blue pad.",
+    "Grab red block, pass it along a path clear of the Earth map globe, place onto blue pad.",
+    "Use left arm to pick red block, avoid the beige and brown globe during handoff, right arm place blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the spinning brown globe, then places on blue pad.",
+    "Lift the red block, hand it across away from the wooden globe with metal base, then place it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the wooden globe with metal base, place on blue pad.",
+    "Left arm take red block, keep the pass away from the brown globe on black stand, right arm puts on blue pad.",
+    "Secure the red block, transfer it away from the wooden globe with metal base, and drop it onto the blue pad.",
+    "Left arm grips red block, hands off away from the beige and brown globe, right arm places on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe with smooth surface, place on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe with curved black stand, place blue pad.",
+    "Pick up the red block, transfer it while staying clear of the wooden globe with metal base, and place on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the wooden globe with metal base, then place on blue pad.",
+    "Lift the red block, do a handover avoiding the round Earth globe, then place it onto the blue pad.",
+    "Left arm lifts red block, handover away from the globe with smooth surface, right arm sets it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the round Earth globe, then sets it on blue pad.",
+    "Take the red block from the table, pass it clear of the beige and brown globe, and put it on blue pad.",
+    "Pick the red block, keep the transfer away from the decor piece globe, and place it on blue pad.",
+    "Take the red block from the table, hand over away from the wooden globe with metal base, drop on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the round globe with sturdy base, then place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the wooden globe with metal base, set on blue pad.",
+    "Grab red block, pass it along a path clear of the smooth beige globe with continents, place onto blue pad.",
+    "Use left arm to pick red block, avoid the round globe with sturdy base during handoff, right arm place blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the spinning brown globe, then places on blue pad.",
+    "Lift the red block, hand it across away from the decor piece globe, then place it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the round Earth globe, place on blue pad.",
+    "Left arm take red block, keep the pass away from the decor piece globe, right arm puts on blue pad.",
+    "Secure the red block, transfer it away from the wooden globe with metal base, and drop it onto the blue pad.",
+    "Left arm grips red block, hands off away from the globe with smooth surface, right arm places on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the round Earth globe, place on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the Earth map globe, place blue pad.",
+    "Pick up the red block, transfer it while staying clear of the wooden globe with metal base, and place on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the round globe with sturdy base, then place on blue pad.",
+    "Lift the red block, do a handover avoiding the globe with smooth surface, then place it onto the blue pad.",
+    "Left arm lifts red block, handover away from the decor piece globe, right arm sets it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the globe for geographic reference, then sets it on blue pad.",
+    "Take the red block from the table, pass it clear of the globe for geographic reference, and put it on blue pad.",
+    "Pick the red block, keep the transfer away from the brown globe on black stand, and place it on blue pad.",
+    "Take the red block from the table, hand over away from the globe with curved black stand, drop on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the Earth map globe, then place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the spinning brown globe, set on blue pad.",
+    "Grab red block, pass it along a path clear of the globe with curved black stand, place onto blue pad.",
+    "Use left arm to pick red block, avoid the spinning brown globe during handoff, right arm place blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the Earth map globe, then places on blue pad.",
+    "Lift the red block, hand it across away from the round Earth globe, then place it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the globe with curved black stand, place on blue pad.",
+    "Left arm take red block, keep the pass away from the decor piece globe, right arm puts on blue pad.",
+    "Secure the red block, transfer it away from the globe with smooth surface, and drop it onto the blue pad.",
+    "Left arm grips red block, hands off away from the round globe with sturdy base, right arm places on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the smooth beige globe with continents, place on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe with smooth surface, place blue pad.",
+    "Pick up the red block, transfer it while staying clear of the decor piece globe, and place on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the decor piece globe, then place on blue pad.",
+    "Lift the red block, do a handover avoiding the wooden globe with metal base, then place it onto the blue pad.",
+    "Left arm lifts red block, handover away from the smooth beige globe with continents, right arm sets it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the smooth beige globe with continents, then sets it on blue pad.",
+    "Take the red block from the table, pass it clear of the brown globe on black stand, and put it on blue pad.",
+    "Pick the red block, keep the transfer away from the wooden globe with metal base, and place it on blue pad.",
+    "Take the red block from the table, hand over away from the Earth map globe, drop on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the beige and brown globe, then place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe with curved black stand, set on blue pad.",
+    "Grab red block, pass it along a path clear of the globe for geographic reference, place onto blue pad.",
+    "Use left arm to pick red block, avoid the globe with smooth surface during handoff, right arm place blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the round globe with sturdy base, then places on blue pad.",
+    "Lift the red block, hand it across away from the wooden globe with metal base, then place it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the beige and brown globe, place on blue pad.",
+    "Left arm take red block, keep the pass away from the Earth map globe, right arm puts on blue pad.",
+    "Secure the red block, transfer it away from the smooth beige globe with continents, and drop it onto the blue pad.",
+    "Left arm grips red block, hands off away from the smooth beige globe with continents, right arm places on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the round Earth globe, place on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the brown globe on black stand, place blue pad."
+  ],
+  "unseen": [
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad."
+  ]
+}
\ No newline at end of file
diff --git a/handover_block_wp1/handover_block_wp1/instructions/episode55.json b/handover_block_wp1/handover_block_wp1/instructions/episode55.json
new file mode 100644
index 0000000000000000000000000000000000000000..b1877e489d8164df913ca6eae38184387117f233
--- /dev/null
+++ b/handover_block_wp1/handover_block_wp1/instructions/episode55.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Left arm grips red block, hands off away from the globe with curved black stand, right arm places on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe with curved black stand, then places on blue pad.",
+    "Grab red block, pass it along a path clear of the round Earth globe, place onto blue pad.",
+    "Take the red block from the table, hand over away from the spinning brown globe, drop on blue pad.",
+    "Take the red block from the table, pass it clear of the round globe with sturdy base, and put it on blue pad.",
+    "Lift the red block, do a handover avoiding the smooth beige globe with continents, then place it onto the blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the wooden globe with metal base, place on blue pad.",
+    "Lift the red block, hand it across away from the globe for geographic reference, then place it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe with smooth surface, set on blue pad.",
+    "Pick the red block, keep the transfer away from the brown globe on black stand, and place it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the beige and brown globe, then place on blue pad.",
+    "Secure the red block, transfer it away from the globe with smooth surface, and drop it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm away from the decor piece globe, place blue pad.",
+    "Pick up the red block, transfer it while staying clear of the Earth map globe, and place on blue pad.",
+    "Left arm take red block, keep the pass away from the Earth map globe, right arm puts on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the beige and brown globe, then place on blue pad.",
+    "Use left arm to pick red block, avoid the globe with smooth surface during handoff, right arm place blue pad.",
+    "Grab the red block, transfer it while steering clear of the spinning brown globe, place on blue pad.",
+    "Left arm lifts red block, handover away from the globe with curved black stand, right arm sets it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the beige and brown globe, then sets it on blue pad.",
+    "Left arm grips red block, hands off away from the smooth beige globe with continents, right arm places on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the Earth map globe, then places on blue pad.",
+    "Grab red block, pass it along a path clear of the globe for geographic reference, place onto blue pad.",
+    "Take the red block from the table, hand over away from the globe with curved black stand, drop on blue pad.",
+    "Take the red block from the table, pass it clear of the wooden globe with metal base, and put it on blue pad.",
+    "Lift the red block, do a handover avoiding the globe with curved black stand, then place it onto the blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe with curved black stand, place on blue pad.",
+    "Lift the red block, hand it across away from the Earth map globe, then place it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the wooden globe with metal base, set on blue pad.",
+    "Pick the red block, keep the transfer away from the brown globe on black stand, and place it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the brown globe on black stand, then place on blue pad.",
+    "Secure the red block, transfer it away from the round Earth globe, and drop it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm away from the beige and brown globe, place blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe with curved black stand, and place on blue pad.",
+    "Left arm take red block, keep the pass away from the beige and brown globe, right arm puts on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the round Earth globe, then place on blue pad.",
+    "Use left arm to pick red block, avoid the brown globe on black stand during handoff, right arm place blue pad.",
+    "Grab the red block, transfer it while steering clear of the beige and brown globe, place on blue pad.",
+    "Left arm lifts red block, handover away from the wooden globe with metal base, right arm sets it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the round globe with sturdy base, then sets it on blue pad.",
+    "Left arm grips red block, hands off away from the globe with smooth surface, right arm places on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe for geographic reference, then places on blue pad.",
+    "Grab red block, pass it along a path clear of the wooden globe with metal base, place onto blue pad.",
+    "Take the red block from the table, hand over away from the Earth map globe, drop on blue pad.",
+    "Take the red block from the table, pass it clear of the smooth beige globe with continents, and put it on blue pad.",
+    "Lift the red block, do a handover avoiding the wooden globe with metal base, then place it onto the blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the round Earth globe, place on blue pad.",
+    "Lift the red block, hand it across away from the brown globe on black stand, then place it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the brown globe on black stand, set on blue pad.",
+    "Pick the red block, keep the transfer away from the round Earth globe, and place it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the brown globe on black stand, then place on blue pad.",
+    "Secure the red block, transfer it away from the brown globe on black stand, and drop it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm away from the wooden globe with metal base, place blue pad.",
+    "Pick up the red block, transfer it while staying clear of the smooth beige globe with continents, and place on blue pad.",
+    "Left arm take red block, keep the pass away from the brown globe on black stand, right arm puts on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the beige and brown globe, then place on blue pad.",
+    "Use left arm to pick red block, avoid the globe for geographic reference during handoff, right arm place blue pad.",
+    "Grab the red block, transfer it while steering clear of the smooth beige globe with continents, place on blue pad.",
+    "Left arm lifts red block, handover away from the spinning brown globe, right arm sets it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the decor piece globe, then sets it on blue pad.",
+    "Left arm grips red block, hands off away from the wooden globe with metal base, right arm places on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the beige and brown globe, then places on blue pad.",
+    "Grab red block, pass it along a path clear of the smooth beige globe with continents, place onto blue pad.",
+    "Take the red block from the table, hand over away from the globe with curved black stand, drop on blue pad.",
+    "Take the red block from the table, pass it clear of the beige and brown globe, and put it on blue pad.",
+    "Lift the red block, do a handover avoiding the spinning brown globe, then place it onto the blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe for geographic reference, place on blue pad.",
+    "Lift the red block, hand it across away from the round globe with sturdy base, then place it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the Earth map globe, set on blue pad.",
+    "Pick the red block, keep the transfer away from the smooth beige globe with continents, and place it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe with curved black stand, then place on blue pad.",
+    "Secure the red block, transfer it away from the globe for geographic reference, and drop it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm away from the round globe with sturdy base, place blue pad.",
+    "Pick up the red block, transfer it while staying clear of the decor piece globe, and place on blue pad.",
+    "Left arm take red block, keep the pass away from the globe with smooth surface, right arm puts on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the round Earth globe, then place on blue pad.",
+    "Use left arm to pick red block, avoid the Earth map globe during handoff, right arm place blue pad.",
+    "Grab the red block, transfer it while steering clear of the Earth map globe, place on blue pad.",
+    "Left arm lifts red block, handover away from the wooden globe with metal base, right arm sets it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the round Earth globe, then sets it on blue pad.",
+    "Left arm grips red block, hands off away from the brown globe on black stand, right arm places on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the brown globe on black stand, then places on blue pad.",
+    "Grab red block, pass it along a path clear of the globe for geographic reference, place onto blue pad.",
+    "Take the red block from the table, hand over away from the brown globe on black stand, drop on blue pad.",
+    "Take the red block from the table, pass it clear of the brown globe on black stand, and put it on blue pad.",
+    "Lift the red block, do a handover avoiding the round globe with sturdy base, then place it onto the blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the smooth beige globe with continents, place on blue pad.",
+    "Lift the red block, hand it across away from the globe with curved black stand, then place it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the smooth beige globe with continents, set on blue pad.",
+    "Pick the red block, keep the transfer away from the round globe with sturdy base, and place it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the round globe with sturdy base, then place on blue pad.",
+    "Secure the red block, transfer it away from the globe for geographic reference, and drop it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm away from the round Earth globe, place blue pad.",
+    "Pick up the red block, transfer it while staying clear of the round globe with sturdy base, and place on blue pad.",
+    "Left arm take red block, keep the pass away from the smooth beige globe with continents, right arm puts on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the globe with curved black stand, then place on blue pad.",
+    "Use left arm to pick red block, avoid the brown globe on black stand during handoff, right arm place blue pad.",
+    "Grab the red block, transfer it while steering clear of the spinning brown globe, place on blue pad.",
+    "Left arm lifts red block, handover away from the globe with curved black stand, right arm sets it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the spinning brown globe, then sets it on blue pad."
+  ],
+  "unseen": [
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad."
+  ]
+}
\ No newline at end of file
diff --git a/handover_block_wp1/handover_block_wp1/instructions/episode56.json b/handover_block_wp1/handover_block_wp1/instructions/episode56.json
new file mode 100644
index 0000000000000000000000000000000000000000..e44e86830d7f99560242368b1b39441dc18018ce
--- /dev/null
+++ b/handover_block_wp1/handover_block_wp1/instructions/episode56.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the red block from the table, hand over away from the hand-sized globe on sturdy stand, drop on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe featuring bright country colors, then place on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the earth-shaped globe with black frame, then places on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the small sphere showing earth map, then sets it on blue pad.",
+    "Take the red block from the table, pass it clear of the colorful globe on black stand, and put it on blue pad.",
+    "Left arm take red block, keep the pass away from the blue globe, right arm puts on blue pad.",
+    "Lift the red block, do a handover avoiding the blue globe, then place it onto the blue pad.",
+    "Left arm lifts red block, handover away from the hand-sized globe on sturdy stand, right arm sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the colorful globe on black stand, place blue pad.",
+    "Pick the red block, hand it over while keeping clear of the globe with curved black base, then place on blue pad.",
+    "Pick the red block, keep the transfer away from the colorful globe on black stand, and place it on blue pad.",
+    "Grab red block, pass it along a path clear of the globe featuring bright country colors, place onto blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the blue globe with colorful continents, place on blue pad.",
+    "Grab the red block, transfer it while steering clear of the hand-sized globe on sturdy stand, place on blue pad.",
+    "Use left arm to pick red block, avoid the compact globe with labeled countries during handoff, right arm place blue pad.",
+    "Left arm grips red block, hands off away from the small world globe, right arm places on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the blue globe with colorful continents, set on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe featuring bright country colors, and place on blue pad.",
+    "Secure the red block, transfer it away from the blue sphere with countries marked, and drop it onto the blue pad.",
+    "Lift the red block, hand it across away from the hand-sized globe on sturdy stand, then place it on blue pad.",
+    "Take the red block from the table, hand over away from the globe sitting on curved black base, drop on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the blue globe with colorful continents, then place on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe featuring bright country colors, then places on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the colorful globe on black stand, then sets it on blue pad.",
+    "Take the red block from the table, pass it clear of the earth-shaped globe with black frame, and put it on blue pad.",
+    "Left arm take red block, keep the pass away from the colorful globe on black stand, right arm puts on blue pad.",
+    "Lift the red block, do a handover avoiding the globe featuring bright country colors, then place it onto the blue pad.",
+    "Left arm lifts red block, handover away from the hand-sized globe on sturdy stand, right arm sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the small world globe, place blue pad.",
+    "Pick the red block, hand it over while keeping clear of the globe sitting on curved black base, then place on blue pad.",
+    "Pick the red block, keep the transfer away from the compact globe with labeled countries, and place it on blue pad.",
+    "Grab red block, pass it along a path clear of the colorful globe on black stand, place onto blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the earth-shaped globe with black frame, place on blue pad.",
+    "Grab the red block, transfer it while steering clear of the small sphere showing earth map, place on blue pad.",
+    "Use left arm to pick red block, avoid the blue globe during handoff, right arm place blue pad.",
+    "Left arm grips red block, hands off away from the globe with curved black base, right arm places on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the blue sphere with countries marked, set on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the blue globe, and place on blue pad.",
+    "Secure the red block, transfer it away from the blue sphere with countries marked, and drop it onto the blue pad.",
+    "Lift the red block, hand it across away from the globe sitting on curved black base, then place it on blue pad.",
+    "Take the red block from the table, hand over away from the colorful globe on black stand, drop on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe with curved black base, then place on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the small sphere showing earth map, then places on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the compact globe with labeled countries, then sets it on blue pad.",
+    "Take the red block from the table, pass it clear of the small sphere showing earth map, and put it on blue pad.",
+    "Left arm take red block, keep the pass away from the small world globe, right arm puts on blue pad.",
+    "Lift the red block, do a handover avoiding the globe with curved black base, then place it onto the blue pad.",
+    "Left arm lifts red block, handover away from the colorful globe on black stand, right arm sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the hand-sized globe on sturdy stand, place blue pad.",
+    "Pick the red block, hand it over while keeping clear of the small sphere showing earth map, then place on blue pad.",
+    "Pick the red block, keep the transfer away from the earth-shaped globe with black frame, and place it on blue pad.",
+    "Grab red block, pass it along a path clear of the globe sitting on curved black base, place onto blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe sitting on curved black base, place on blue pad.",
+    "Grab the red block, transfer it while steering clear of the globe featuring bright country colors, place on blue pad.",
+    "Use left arm to pick red block, avoid the small world globe during handoff, right arm place blue pad.",
+    "Left arm grips red block, hands off away from the globe with curved black base, right arm places on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the blue sphere with countries marked, set on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the earth-shaped globe with black frame, and place on blue pad.",
+    "Secure the red block, transfer it away from the hand-sized globe on sturdy stand, and drop it onto the blue pad.",
+    "Lift the red block, hand it across away from the small world globe, then place it on blue pad.",
+    "Take the red block from the table, hand over away from the blue globe, drop on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the blue globe with colorful continents, then place on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the hand-sized globe on sturdy stand, then places on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the globe sitting on curved black base, then sets it on blue pad.",
+    "Take the red block from the table, pass it clear of the globe sitting on curved black base, and put it on blue pad.",
+    "Left arm take red block, keep the pass away from the colorful globe on black stand, right arm puts on blue pad.",
+    "Lift the red block, do a handover avoiding the colorful globe on black stand, then place it onto the blue pad.",
+    "Left arm lifts red block, handover away from the globe sitting on curved black base, right arm sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the compact globe with labeled countries, place blue pad.",
+    "Pick the red block, hand it over while keeping clear of the compact globe with labeled countries, then place on blue pad.",
+    "Pick the red block, keep the transfer away from the globe featuring bright country colors, and place it on blue pad.",
+    "Grab red block, pass it along a path clear of the globe featuring bright country colors, place onto blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the hand-sized globe on sturdy stand, place on blue pad.",
+    "Grab the red block, transfer it while steering clear of the blue globe, place on blue pad.",
+    "Use left arm to pick red block, avoid the earth-shaped globe with black frame during handoff, right arm place blue pad.",
+    "Left arm grips red block, hands off away from the small world globe, right arm places on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe featuring bright country colors, set on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the small sphere showing earth map, and place on blue pad.",
+    "Secure the red block, transfer it away from the blue sphere with countries marked, and drop it onto the blue pad.",
+    "Lift the red block, hand it across away from the small sphere showing earth map, then place it on blue pad.",
+    "Take the red block from the table, hand over away from the small world globe, drop on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the colorful globe on black stand, then place on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe featuring bright country colors, then places on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the globe featuring bright country colors, then sets it on blue pad.",
+    "Take the red block from the table, pass it clear of the compact globe with labeled countries, and put it on blue pad.",
+    "Left arm take red block, keep the pass away from the small world globe, right arm puts on blue pad.",
+    "Lift the red block, do a handover avoiding the colorful globe on black stand, then place it onto the blue pad.",
+    "Left arm lifts red block, handover away from the blue sphere with countries marked, right arm sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the blue globe, place blue pad.",
+    "Pick the red block, hand it over while keeping clear of the globe featuring bright country colors, then place on blue pad.",
+    "Pick the red block, keep the transfer away from the blue globe with colorful continents, and place it on blue pad.",
+    "Grab red block, pass it along a path clear of the globe with curved black base, place onto blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the hand-sized globe on sturdy stand, place on blue pad.",
+    "Grab the red block, transfer it while steering clear of the blue globe with colorful continents, place on blue pad.",
+    "Use left arm to pick red block, avoid the blue globe with colorful continents during handoff, right arm place blue pad.",
+    "Left arm grips red block, hands off away from the hand-sized globe on sturdy stand, right arm places on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the small sphere showing earth map, set on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the earth-shaped globe with black frame, and place on blue pad.",
+    "Secure the red block, transfer it away from the globe featuring bright country colors, and drop it onto the blue pad.",
+    "Lift the red block, hand it across away from the earth-shaped globe with black frame, then place it on blue pad."
+  ],
+  "unseen": [
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand."
+  ]
+}
\ No newline at end of file
diff --git a/handover_block_wp1/handover_block_wp1/instructions/episode57.json b/handover_block_wp1/handover_block_wp1/instructions/episode57.json
new file mode 100644
index 0000000000000000000000000000000000000000..1151dd762dfcfc4e88cbbeb7e2cf082945f5ca2e
--- /dev/null
+++ b/handover_block_wp1/handover_block_wp1/instructions/episode57.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Left arm lifts red block, handover away from the decor piece globe, right arm sets it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the wooden globe with metal base, place on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the beige and brown globe, then place on blue pad.",
+    "Secure the red block, transfer it away from the wooden globe with metal base, and drop it onto the blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the decor piece globe, set on blue pad.",
+    "Left arm grips red block, hands off away from the decor piece globe, right arm places on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the spinning brown globe, place blue pad.",
+    "Use left arm to pick red block, avoid the smooth beige globe with continents during handoff, right arm place blue pad.",
+    "Left arm grabs red block, right arm receives it away from the globe with curved black stand, then sets it on blue pad.",
+    "Grab red block, pass it along a path clear of the globe for geographic reference, place onto blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe for geographic reference, and place on blue pad.",
+    "Lift the red block, do a handover avoiding the Earth map globe, then place it onto the blue pad.",
+    "Left arm take red block, keep the pass away from the beige and brown globe, right arm puts on blue pad.",
+    "Take the red block from the table, pass it clear of the decor piece globe, and put it on blue pad.",
+    "Lift the red block, hand it across away from the beige and brown globe, then place it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe with smooth surface, then places on blue pad.",
+    "Take the red block from the table, hand over away from the round Earth globe, drop on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the decor piece globe, then place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the brown globe on black stand, place on blue pad.",
+    "Pick the red block, keep the transfer away from the round globe with sturdy base, and place it on blue pad.",
+    "Left arm lifts red block, handover away from the spinning brown globe, right arm sets it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the round Earth globe, place on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the globe with curved black stand, then place on blue pad.",
+    "Secure the red block, transfer it away from the round Earth globe, and drop it onto the blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe for geographic reference, set on blue pad.",
+    "Left arm grips red block, hands off away from the round globe with sturdy base, right arm places on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the round Earth globe, place blue pad.",
+    "Use left arm to pick red block, avoid the wooden globe with metal base during handoff, right arm place blue pad.",
+    "Left arm grabs red block, right arm receives it away from the brown globe on black stand, then sets it on blue pad.",
+    "Grab red block, pass it along a path clear of the globe for geographic reference, place onto blue pad.",
+    "Pick up the red block, transfer it while staying clear of the round Earth globe, and place on blue pad.",
+    "Lift the red block, do a handover avoiding the spinning brown globe, then place it onto the blue pad.",
+    "Left arm take red block, keep the pass away from the wooden globe with metal base, right arm puts on blue pad.",
+    "Take the red block from the table, pass it clear of the Earth map globe, and put it on blue pad.",
+    "Lift the red block, hand it across away from the globe with curved black stand, then place it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the brown globe on black stand, then places on blue pad.",
+    "Take the red block from the table, hand over away from the wooden globe with metal base, drop on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the Earth map globe, then place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the beige and brown globe, place on blue pad.",
+    "Pick the red block, keep the transfer away from the globe with smooth surface, and place it on blue pad.",
+    "Left arm lifts red block, handover away from the round globe with sturdy base, right arm sets it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the spinning brown globe, place on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the decor piece globe, then place on blue pad.",
+    "Secure the red block, transfer it away from the globe with curved black stand, and drop it onto the blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the Earth map globe, set on blue pad.",
+    "Left arm grips red block, hands off away from the round globe with sturdy base, right arm places on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the brown globe on black stand, place blue pad.",
+    "Use left arm to pick red block, avoid the round globe with sturdy base during handoff, right arm place blue pad.",
+    "Left arm grabs red block, right arm receives it away from the spinning brown globe, then sets it on blue pad.",
+    "Grab red block, pass it along a path clear of the brown globe on black stand, place onto blue pad.",
+    "Pick up the red block, transfer it while staying clear of the brown globe on black stand, and place on blue pad.",
+    "Lift the red block, do a handover avoiding the Earth map globe, then place it onto the blue pad.",
+    "Left arm take red block, keep the pass away from the Earth map globe, right arm puts on blue pad.",
+    "Take the red block from the table, pass it clear of the round globe with sturdy base, and put it on blue pad.",
+    "Lift the red block, hand it across away from the smooth beige globe with continents, then place it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the round Earth globe, then places on blue pad.",
+    "Take the red block from the table, hand over away from the round Earth globe, drop on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the beige and brown globe, then place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the Earth map globe, place on blue pad.",
+    "Pick the red block, keep the transfer away from the spinning brown globe, and place it on blue pad.",
+    "Left arm lifts red block, handover away from the globe for geographic reference, right arm sets it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the round Earth globe, place on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the Earth map globe, then place on blue pad.",
+    "Secure the red block, transfer it away from the brown globe on black stand, and drop it onto the blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the beige and brown globe, set on blue pad.",
+    "Left arm grips red block, hands off away from the smooth beige globe with continents, right arm places on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the decor piece globe, place blue pad.",
+    "Use left arm to pick red block, avoid the smooth beige globe with continents during handoff, right arm place blue pad.",
+    "Left arm grabs red block, right arm receives it away from the globe with smooth surface, then sets it on blue pad.",
+    "Grab red block, pass it along a path clear of the Earth map globe, place onto blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe with curved black stand, and place on blue pad.",
+    "Lift the red block, do a handover avoiding the spinning brown globe, then place it onto the blue pad.",
+    "Left arm take red block, keep the pass away from the globe with smooth surface, right arm puts on blue pad.",
+    "Take the red block from the table, pass it clear of the decor piece globe, and put it on blue pad.",
+    "Lift the red block, hand it across away from the globe with curved black stand, then place it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the wooden globe with metal base, then places on blue pad.",
+    "Take the red block from the table, hand over away from the wooden globe with metal base, drop on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the round Earth globe, then place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the decor piece globe, place on blue pad.",
+    "Pick the red block, keep the transfer away from the globe for geographic reference, and place it on blue pad.",
+    "Left arm lifts red block, handover away from the decor piece globe, right arm sets it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the globe with curved black stand, place on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the brown globe on black stand, then place on blue pad.",
+    "Secure the red block, transfer it away from the wooden globe with metal base, and drop it onto the blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the brown globe on black stand, set on blue pad.",
+    "Left arm grips red block, hands off away from the Earth map globe, right arm places on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the Earth map globe, place blue pad.",
+    "Use left arm to pick red block, avoid the brown globe on black stand during handoff, right arm place blue pad.",
+    "Left arm grabs red block, right arm receives it away from the globe for geographic reference, then sets it on blue pad.",
+    "Grab red block, pass it along a path clear of the globe with smooth surface, place onto blue pad.",
+    "Pick up the red block, transfer it while staying clear of the smooth beige globe with continents, and place on blue pad.",
+    "Lift the red block, do a handover avoiding the wooden globe with metal base, then place it onto the blue pad.",
+    "Left arm take red block, keep the pass away from the decor piece globe, right arm puts on blue pad.",
+    "Take the red block from the table, pass it clear of the globe with smooth surface, and put it on blue pad.",
+    "Lift the red block, hand it across away from the wooden globe with metal base, then place it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the round globe with sturdy base, then places on blue pad.",
+    "Take the red block from the table, hand over away from the spinning brown globe, drop on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the Earth map globe, then place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the brown globe on black stand, place on blue pad.",
+    "Pick the red block, keep the transfer away from the round Earth globe, and place it on blue pad."
+  ],
+  "unseen": [
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad."
+  ]
+}
\ No newline at end of file
diff --git a/handover_block_wp1/handover_block_wp1/instructions/episode58.json b/handover_block_wp1/handover_block_wp1/instructions/episode58.json
new file mode 100644
index 0000000000000000000000000000000000000000..365201ea334c3f8fed234d6dbd5608b6e8cdf1af
--- /dev/null
+++ b/handover_block_wp1/handover_block_wp1/instructions/episode58.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Left arm lifts red block, handover away from the small world globe, right arm sets it on blue pad.",
+    "Pick the red block, keep the transfer away from the globe with curved black base, and place it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the small world globe, then place on blue pad.",
+    "Take the red block from the table, pass it clear of the earth-shaped globe with black frame, and put it on blue pad.",
+    "Secure the red block, transfer it away from the globe with curved black base, and drop it onto the blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the blue globe, set on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the small sphere showing earth map, place blue pad.",
+    "Take the red block from the table, hand over away from the small world globe, drop on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the small world globe, then places on blue pad.",
+    "Lift the red block, hand it across away from the earth-shaped globe with black frame, then place it on blue pad.",
+    "Left arm take red block, keep the pass away from the blue globe, right arm puts on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the blue sphere with countries marked, then place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the small world globe, and place on blue pad.",
+    "Grab red block, pass it along a path clear of the blue sphere with countries marked, place onto blue pad.",
+    "Grab the red block, transfer it while steering clear of the blue globe with colorful continents, place on blue pad.",
+    "Left arm grips red block, hands off away from the small sphere showing earth map, right arm places on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the blue sphere with countries marked, place on blue pad.",
+    "Use left arm to pick red block, avoid the earth-shaped globe with black frame during handoff, right arm place blue pad.",
+    "Left arm grabs red block, right arm receives it away from the blue globe with colorful continents, then sets it on blue pad.",
+    "Lift the red block, do a handover avoiding the globe with curved black base, then place it onto the blue pad.",
+    "Left arm lifts red block, handover away from the small world globe, right arm sets it on blue pad.",
+    "Pick the red block, keep the transfer away from the hand-sized globe on sturdy stand, and place it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the hand-sized globe on sturdy stand, then place on blue pad.",
+    "Take the red block from the table, pass it clear of the earth-shaped globe with black frame, and put it on blue pad.",
+    "Secure the red block, transfer it away from the compact globe with labeled countries, and drop it onto the blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the blue globe, set on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the small sphere showing earth map, place blue pad.",
+    "Take the red block from the table, hand over away from the globe with curved black base, drop on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe sitting on curved black base, then places on blue pad.",
+    "Lift the red block, hand it across away from the small sphere showing earth map, then place it on blue pad.",
+    "Left arm take red block, keep the pass away from the blue globe with colorful continents, right arm puts on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the earth-shaped globe with black frame, then place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the small world globe, and place on blue pad.",
+    "Grab red block, pass it along a path clear of the colorful globe on black stand, place onto blue pad.",
+    "Grab the red block, transfer it while steering clear of the blue globe with colorful continents, place on blue pad.",
+    "Left arm grips red block, hands off away from the globe with curved black base, right arm places on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the blue globe, place on blue pad.",
+    "Use left arm to pick red block, avoid the small world globe during handoff, right arm place blue pad.",
+    "Left arm grabs red block, right arm receives it away from the colorful globe on black stand, then sets it on blue pad.",
+    "Lift the red block, do a handover avoiding the globe sitting on curved black base, then place it onto the blue pad.",
+    "Left arm lifts red block, handover away from the small world globe, right arm sets it on blue pad.",
+    "Pick the red block, keep the transfer away from the globe with curved black base, and place it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the small sphere showing earth map, then place on blue pad.",
+    "Take the red block from the table, pass it clear of the compact globe with labeled countries, and put it on blue pad.",
+    "Secure the red block, transfer it away from the small world globe, and drop it onto the blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe with curved black base, set on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the small world globe, place blue pad.",
+    "Take the red block from the table, hand over away from the compact globe with labeled countries, drop on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the earth-shaped globe with black frame, then places on blue pad.",
+    "Lift the red block, hand it across away from the hand-sized globe on sturdy stand, then place it on blue pad.",
+    "Left arm take red block, keep the pass away from the blue sphere with countries marked, right arm puts on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the blue globe, then place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the blue globe with colorful continents, and place on blue pad.",
+    "Grab red block, pass it along a path clear of the globe with curved black base, place onto blue pad.",
+    "Grab the red block, transfer it while steering clear of the blue globe, place on blue pad.",
+    "Left arm grips red block, hands off away from the hand-sized globe on sturdy stand, right arm places on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the small sphere showing earth map, place on blue pad.",
+    "Use left arm to pick red block, avoid the small world globe during handoff, right arm place blue pad.",
+    "Left arm grabs red block, right arm receives it away from the blue globe, then sets it on blue pad.",
+    "Lift the red block, do a handover avoiding the blue globe with colorful continents, then place it onto the blue pad.",
+    "Left arm lifts red block, handover away from the blue globe with colorful continents, right arm sets it on blue pad.",
+    "Pick the red block, keep the transfer away from the globe sitting on curved black base, and place it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the blue globe, then place on blue pad.",
+    "Take the red block from the table, pass it clear of the earth-shaped globe with black frame, and put it on blue pad.",
+    "Secure the red block, transfer it away from the blue globe with colorful continents, and drop it onto the blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe with curved black base, set on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the compact globe with labeled countries, place blue pad.",
+    "Take the red block from the table, hand over away from the earth-shaped globe with black frame, drop on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe featuring bright country colors, then places on blue pad.",
+    "Lift the red block, hand it across away from the globe featuring bright country colors, then place it on blue pad.",
+    "Left arm take red block, keep the pass away from the blue globe with colorful continents, right arm puts on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the earth-shaped globe with black frame, then place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe sitting on curved black base, and place on blue pad.",
+    "Grab red block, pass it along a path clear of the hand-sized globe on sturdy stand, place onto blue pad.",
+    "Grab the red block, transfer it while steering clear of the compact globe with labeled countries, place on blue pad.",
+    "Left arm grips red block, hands off away from the earth-shaped globe with black frame, right arm places on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the earth-shaped globe with black frame, place on blue pad.",
+    "Use left arm to pick red block, avoid the blue globe with colorful continents during handoff, right arm place blue pad.",
+    "Left arm grabs red block, right arm receives it away from the globe featuring bright country colors, then sets it on blue pad.",
+    "Lift the red block, do a handover avoiding the small sphere showing earth map, then place it onto the blue pad.",
+    "Left arm lifts red block, handover away from the globe featuring bright country colors, right arm sets it on blue pad.",
+    "Pick the red block, keep the transfer away from the earth-shaped globe with black frame, and place it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe sitting on curved black base, then place on blue pad.",
+    "Take the red block from the table, pass it clear of the blue globe, and put it on blue pad.",
+    "Secure the red block, transfer it away from the blue globe, and drop it onto the blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the compact globe with labeled countries, set on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the small world globe, place blue pad.",
+    "Take the red block from the table, hand over away from the colorful globe on black stand, drop on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe with curved black base, then places on blue pad.",
+    "Lift the red block, hand it across away from the blue sphere with countries marked, then place it on blue pad.",
+    "Left arm take red block, keep the pass away from the globe sitting on curved black base, right arm puts on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the small world globe, then place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the colorful globe on black stand, and place on blue pad.",
+    "Grab red block, pass it along a path clear of the globe sitting on curved black base, place onto blue pad.",
+    "Grab the red block, transfer it while steering clear of the colorful globe on black stand, place on blue pad.",
+    "Left arm grips red block, hands off away from the small sphere showing earth map, right arm places on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the compact globe with labeled countries, place on blue pad.",
+    "Use left arm to pick red block, avoid the blue sphere with countries marked during handoff, right arm place blue pad.",
+    "Left arm grabs red block, right arm receives it away from the blue sphere with countries marked, then sets it on blue pad.",
+    "Lift the red block, do a handover avoiding the globe featuring bright country colors, then place it onto the blue pad."
+  ],
+  "unseen": [
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad."
+  ]
+}
\ No newline at end of file
diff --git a/handover_block_wp1/handover_block_wp1/instructions/episode59.json b/handover_block_wp1/handover_block_wp1/instructions/episode59.json
new file mode 100644
index 0000000000000000000000000000000000000000..bfb93061ed1eab2851d3894b8a17ffd7c27fbd7c
--- /dev/null
+++ b/handover_block_wp1/handover_block_wp1/instructions/episode59.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the red block from the table, pass it clear of the wooden globe with metal base, and put it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the round Earth globe, then place on blue pad.",
+    "Use left arm to pick red block, avoid the globe with curved black stand during handoff, right arm place blue pad.",
+    "Grab red block, pass it along a path clear of the wooden globe with metal base, place onto blue pad.",
+    "Left arm grabs red block, right arm receives it away from the round Earth globe, then sets it on blue pad.",
+    "Left arm grips red block, hands off away from the brown globe on black stand, right arm places on blue pad.",
+    "Lift the red block, do a handover avoiding the decor piece globe, then place it onto the blue pad.",
+    "Pick the red block, keep the transfer away from the smooth beige globe with continents, and place it on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe with curved black stand, place on blue pad.",
+    "Left arm take red block, keep the pass away from the round Earth globe, right arm puts on blue pad.",
+    "Grab the red block, transfer it while steering clear of the brown globe on black stand, place on blue pad.",
+    "Secure the red block, transfer it away from the round Earth globe, and drop it onto the blue pad.",
+    "Pick the red block, hand it over while keeping clear of the brown globe on black stand, then place on blue pad.",
+    "Lift the red block, hand it across away from the Earth map globe, then place it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the round globe with sturdy base, set on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe for geographic reference, and place on blue pad.",
+    "Left arm lifts red block, handover away from the smooth beige globe with continents, right arm sets it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the smooth beige globe with continents, then places on blue pad.",
+    "Take the red block from the table, hand over away from the brown globe on black stand, drop on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the spinning brown globe, place blue pad.",
+    "Take the red block from the table, pass it clear of the brown globe on black stand, and put it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the Earth map globe, then place on blue pad.",
+    "Use left arm to pick red block, avoid the brown globe on black stand during handoff, right arm place blue pad.",
+    "Grab red block, pass it along a path clear of the round Earth globe, place onto blue pad.",
+    "Left arm grabs red block, right arm receives it away from the Earth map globe, then sets it on blue pad.",
+    "Left arm grips red block, hands off away from the globe for geographic reference, right arm places on blue pad.",
+    "Lift the red block, do a handover avoiding the wooden globe with metal base, then place it onto the blue pad.",
+    "Pick the red block, keep the transfer away from the round globe with sturdy base, and place it on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the smooth beige globe with continents, place on blue pad.",
+    "Left arm take red block, keep the pass away from the globe for geographic reference, right arm puts on blue pad.",
+    "Grab the red block, transfer it while steering clear of the spinning brown globe, place on blue pad.",
+    "Secure the red block, transfer it away from the globe with curved black stand, and drop it onto the blue pad.",
+    "Pick the red block, hand it over while keeping clear of the wooden globe with metal base, then place on blue pad.",
+    "Lift the red block, hand it across away from the smooth beige globe with continents, then place it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the decor piece globe, set on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the beige and brown globe, and place on blue pad.",
+    "Left arm lifts red block, handover away from the Earth map globe, right arm sets it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the spinning brown globe, then places on blue pad.",
+    "Take the red block from the table, hand over away from the brown globe on black stand, drop on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the round Earth globe, place blue pad.",
+    "Take the red block from the table, pass it clear of the decor piece globe, and put it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe with smooth surface, then place on blue pad.",
+    "Use left arm to pick red block, avoid the globe with smooth surface during handoff, right arm place blue pad.",
+    "Grab red block, pass it along a path clear of the wooden globe with metal base, place onto blue pad.",
+    "Left arm grabs red block, right arm receives it away from the decor piece globe, then sets it on blue pad.",
+    "Left arm grips red block, hands off away from the round globe with sturdy base, right arm places on blue pad.",
+    "Lift the red block, do a handover avoiding the brown globe on black stand, then place it onto the blue pad.",
+    "Pick the red block, keep the transfer away from the decor piece globe, and place it on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the Earth map globe, place on blue pad.",
+    "Left arm take red block, keep the pass away from the round Earth globe, right arm puts on blue pad.",
+    "Grab the red block, transfer it while steering clear of the round Earth globe, place on blue pad.",
+    "Secure the red block, transfer it away from the round globe with sturdy base, and drop it onto the blue pad.",
+    "Pick the red block, hand it over while keeping clear of the wooden globe with metal base, then place on blue pad.",
+    "Lift the red block, hand it across away from the globe with smooth surface, then place it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the decor piece globe, set on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the Earth map globe, and place on blue pad.",
+    "Left arm lifts red block, handover away from the decor piece globe, right arm sets it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the round globe with sturdy base, then places on blue pad.",
+    "Take the red block from the table, hand over away from the decor piece globe, drop on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe with smooth surface, place blue pad.",
+    "Take the red block from the table, pass it clear of the spinning brown globe, and put it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe for geographic reference, then place on blue pad.",
+    "Use left arm to pick red block, avoid the wooden globe with metal base during handoff, right arm place blue pad.",
+    "Grab red block, pass it along a path clear of the brown globe on black stand, place onto blue pad.",
+    "Left arm grabs red block, right arm receives it away from the wooden globe with metal base, then sets it on blue pad.",
+    "Left arm grips red block, hands off away from the Earth map globe, right arm places on blue pad.",
+    "Lift the red block, do a handover avoiding the round globe with sturdy base, then place it onto the blue pad.",
+    "Pick the red block, keep the transfer away from the decor piece globe, and place it on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the beige and brown globe, place on blue pad.",
+    "Left arm take red block, keep the pass away from the decor piece globe, right arm puts on blue pad.",
+    "Grab the red block, transfer it while steering clear of the wooden globe with metal base, place on blue pad.",
+    "Secure the red block, transfer it away from the globe with smooth surface, and drop it onto the blue pad.",
+    "Pick the red block, hand it over while keeping clear of the round globe with sturdy base, then place on blue pad.",
+    "Lift the red block, hand it across away from the globe for geographic reference, then place it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the smooth beige globe with continents, set on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the round globe with sturdy base, and place on blue pad.",
+    "Left arm lifts red block, handover away from the globe for geographic reference, right arm sets it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the beige and brown globe, then places on blue pad.",
+    "Take the red block from the table, hand over away from the globe with curved black stand, drop on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the brown globe on black stand, place blue pad.",
+    "Take the red block from the table, pass it clear of the round globe with sturdy base, and put it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe for geographic reference, then place on blue pad.",
+    "Use left arm to pick red block, avoid the smooth beige globe with continents during handoff, right arm place blue pad.",
+    "Grab red block, pass it along a path clear of the round Earth globe, place onto blue pad.",
+    "Left arm grabs red block, right arm receives it away from the round globe with sturdy base, then sets it on blue pad.",
+    "Left arm grips red block, hands off away from the beige and brown globe, right arm places on blue pad.",
+    "Lift the red block, do a handover avoiding the globe with curved black stand, then place it onto the blue pad.",
+    "Pick the red block, keep the transfer away from the globe with curved black stand, and place it on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the round globe with sturdy base, place on blue pad.",
+    "Left arm take red block, keep the pass away from the round Earth globe, right arm puts on blue pad.",
+    "Grab the red block, transfer it while steering clear of the globe with curved black stand, place on blue pad.",
+    "Secure the red block, transfer it away from the globe for geographic reference, and drop it onto the blue pad.",
+    "Pick the red block, hand it over while keeping clear of the globe with curved black stand, then place on blue pad.",
+    "Lift the red block, hand it across away from the globe with curved black stand, then place it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the decor piece globe, set on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the round globe with sturdy base, and place on blue pad.",
+    "Left arm lifts red block, handover away from the brown globe on black stand, right arm sets it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the smooth beige globe with continents, then places on blue pad.",
+    "Take the red block from the table, hand over away from the globe with curved black stand, drop on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe for geographic reference, place blue pad."
+  ],
+  "unseen": [
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe."
+  ]
+}
\ No newline at end of file
diff --git a/handover_block_wp1/handover_block_wp1/instructions/episode6.json b/handover_block_wp1/handover_block_wp1/instructions/episode6.json
new file mode 100644
index 0000000000000000000000000000000000000000..17bd410c86f3bf096fff3b9e5784c456ac678d4b
--- /dev/null
+++ b/handover_block_wp1/handover_block_wp1/instructions/episode6.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use left arm to grasp red block, pass to right arm away from the earth-shaped globe with black frame, set on blue pad.",
+    "Lift the red block, do a handover avoiding the colorful globe on black stand, then place it onto the blue pad.",
+    "Grab red block, pass it along a path clear of the small sphere showing earth map, place onto blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the compact globe with labeled countries, then places on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the hand-sized globe on sturdy stand, then place on blue pad.",
+    "Use left arm to pick red block, avoid the small sphere showing earth map during handoff, right arm place blue pad.",
+    "Left arm grabs red block, right arm receives it away from the blue globe with colorful continents, then sets it on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the small world globe, and place on blue pad.",
+    "Pick the red block, keep the transfer away from the globe with curved black base, and place it on blue pad.",
+    "Left arm take red block, keep the pass away from the hand-sized globe on sturdy stand, right arm puts on blue pad.",
+    "Lift the red block, hand it across away from the small world globe, then place it on blue pad.",
+    "Secure the red block, transfer it away from the blue sphere with countries marked, and drop it onto the blue pad.",
+    "Left arm grips red block, hands off away from the blue globe, right arm places on blue pad.",
+    "Take the red block from the table, pass it clear of the small sphere showing earth map, and put it on blue pad.",
+    "Left arm lifts red block, handover away from the earth-shaped globe with black frame, right arm sets it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the globe sitting on curved black base, then place on blue pad.",
+    "Take the red block from the table, hand over away from the blue globe, drop on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the colorful globe on black stand, place on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the small sphere showing earth map, place blue pad.",
+    "Grab the red block, transfer it while steering clear of the hand-sized globe on sturdy stand, place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the colorful globe on black stand, set on blue pad.",
+    "Lift the red block, do a handover avoiding the blue sphere with countries marked, then place it onto the blue pad.",
+    "Grab red block, pass it along a path clear of the globe with curved black base, place onto blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the blue globe, then places on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the hand-sized globe on sturdy stand, then place on blue pad.",
+    "Use left arm to pick red block, avoid the earth-shaped globe with black frame during handoff, right arm place blue pad.",
+    "Left arm grabs red block, right arm receives it away from the small sphere showing earth map, then sets it on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the blue sphere with countries marked, and place on blue pad.",
+    "Pick the red block, keep the transfer away from the earth-shaped globe with black frame, and place it on blue pad.",
+    "Left arm take red block, keep the pass away from the small sphere showing earth map, right arm puts on blue pad.",
+    "Lift the red block, hand it across away from the small world globe, then place it on blue pad.",
+    "Secure the red block, transfer it away from the blue globe, and drop it onto the blue pad.",
+    "Left arm grips red block, hands off away from the blue globe, right arm places on blue pad.",
+    "Take the red block from the table, pass it clear of the hand-sized globe on sturdy stand, and put it on blue pad.",
+    "Left arm lifts red block, handover away from the blue sphere with countries marked, right arm sets it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the earth-shaped globe with black frame, then place on blue pad.",
+    "Take the red block from the table, hand over away from the hand-sized globe on sturdy stand, drop on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe sitting on curved black base, place on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the small world globe, place blue pad.",
+    "Grab the red block, transfer it while steering clear of the colorful globe on black stand, place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the blue sphere with countries marked, set on blue pad.",
+    "Lift the red block, do a handover avoiding the earth-shaped globe with black frame, then place it onto the blue pad.",
+    "Grab red block, pass it along a path clear of the small world globe, place onto blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the compact globe with labeled countries, then places on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the blue globe with colorful continents, then place on blue pad.",
+    "Use left arm to pick red block, avoid the globe with curved black base during handoff, right arm place blue pad.",
+    "Left arm grabs red block, right arm receives it away from the blue sphere with countries marked, then sets it on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the hand-sized globe on sturdy stand, and place on blue pad.",
+    "Pick the red block, keep the transfer away from the blue globe with colorful continents, and place it on blue pad.",
+    "Left arm take red block, keep the pass away from the globe with curved black base, right arm puts on blue pad.",
+    "Lift the red block, hand it across away from the globe featuring bright country colors, then place it on blue pad.",
+    "Secure the red block, transfer it away from the earth-shaped globe with black frame, and drop it onto the blue pad.",
+    "Left arm grips red block, hands off away from the globe with curved black base, right arm places on blue pad.",
+    "Take the red block from the table, pass it clear of the colorful globe on black stand, and put it on blue pad.",
+    "Left arm lifts red block, handover away from the blue globe with colorful continents, right arm sets it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the small world globe, then place on blue pad.",
+    "Take the red block from the table, hand over away from the compact globe with labeled countries, drop on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe sitting on curved black base, place on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the hand-sized globe on sturdy stand, place blue pad.",
+    "Grab the red block, transfer it while steering clear of the blue globe, place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the blue globe, set on blue pad.",
+    "Lift the red block, do a handover avoiding the earth-shaped globe with black frame, then place it onto the blue pad.",
+    "Grab red block, pass it along a path clear of the compact globe with labeled countries, place onto blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe sitting on curved black base, then places on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the earth-shaped globe with black frame, then place on blue pad.",
+    "Use left arm to pick red block, avoid the small sphere showing earth map during handoff, right arm place blue pad.",
+    "Left arm grabs red block, right arm receives it away from the blue globe with colorful continents, then sets it on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe featuring bright country colors, and place on blue pad.",
+    "Pick the red block, keep the transfer away from the blue sphere with countries marked, and place it on blue pad.",
+    "Left arm take red block, keep the pass away from the blue globe, right arm puts on blue pad.",
+    "Lift the red block, hand it across away from the colorful globe on black stand, then place it on blue pad.",
+    "Secure the red block, transfer it away from the blue sphere with countries marked, and drop it onto the blue pad.",
+    "Left arm grips red block, hands off away from the earth-shaped globe with black frame, right arm places on blue pad.",
+    "Take the red block from the table, pass it clear of the earth-shaped globe with black frame, and put it on blue pad.",
+    "Left arm lifts red block, handover away from the small world globe, right arm sets it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the small world globe, then place on blue pad.",
+    "Take the red block from the table, hand over away from the blue sphere with countries marked, drop on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the blue globe, place on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the blue globe, place blue pad.",
+    "Grab the red block, transfer it while steering clear of the compact globe with labeled countries, place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the hand-sized globe on sturdy stand, set on blue pad.",
+    "Lift the red block, do a handover avoiding the blue sphere with countries marked, then place it onto the blue pad.",
+    "Grab red block, pass it along a path clear of the globe sitting on curved black base, place onto blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the compact globe with labeled countries, then places on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the blue sphere with countries marked, then place on blue pad.",
+    "Use left arm to pick red block, avoid the compact globe with labeled countries during handoff, right arm place blue pad.",
+    "Left arm grabs red block, right arm receives it away from the blue sphere with countries marked, then sets it on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe sitting on curved black base, and place on blue pad.",
+    "Pick the red block, keep the transfer away from the small sphere showing earth map, and place it on blue pad.",
+    "Left arm take red block, keep the pass away from the small world globe, right arm puts on blue pad.",
+    "Lift the red block, hand it across away from the small world globe, then place it on blue pad.",
+    "Secure the red block, transfer it away from the globe featuring bright country colors, and drop it onto the blue pad.",
+    "Left arm grips red block, hands off away from the compact globe with labeled countries, right arm places on blue pad.",
+    "Take the red block from the table, pass it clear of the blue globe, and put it on blue pad.",
+    "Left arm lifts red block, handover away from the earth-shaped globe with black frame, right arm sets it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the blue globe, then place on blue pad.",
+    "Take the red block from the table, hand over away from the globe sitting on curved black base, drop on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the earth-shaped globe with black frame, place on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the earth-shaped globe with black frame, place blue pad.",
+    "Grab the red block, transfer it while steering clear of the small world globe, place on blue pad."
+  ],
+  "unseen": [
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand."
+  ]
+}
\ No newline at end of file
diff --git a/handover_block_wp1/handover_block_wp1/instructions/episode60.json b/handover_block_wp1/handover_block_wp1/instructions/episode60.json
new file mode 100644
index 0000000000000000000000000000000000000000..81a397801c412076693b77ab66cf6cc5c13d348b
--- /dev/null
+++ b/handover_block_wp1/handover_block_wp1/instructions/episode60.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use left arm to pick red block, avoid the blue globe during handoff, right arm place blue pad.",
+    "Left arm lifts red block, handover away from the hand-sized globe on sturdy stand, right arm sets it on blue pad.",
+    "Left arm take red block, keep the pass away from the small world globe, right arm puts on blue pad.",
+    "Secure the red block, transfer it away from the hand-sized globe on sturdy stand, and drop it onto the blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the blue globe with colorful continents, place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the small world globe, set on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the earth-shaped globe with black frame, place blue pad.",
+    "Pick up the red block, transfer it while staying clear of the hand-sized globe on sturdy stand, and place on blue pad.",
+    "Lift the red block, hand it across away from the colorful globe on black stand, then place it on blue pad.",
+    "Take the red block from the table, pass it clear of the earth-shaped globe with black frame, and put it on blue pad.",
+    "Grab red block, pass it along a path clear of the compact globe with labeled countries, place onto blue pad.",
+    "Take the red block from the table, hand over away from the small world globe, drop on blue pad.",
+    "Left arm grips red block, hands off away from the small sphere showing earth map, right arm places on blue pad.",
+    "Pick the red block, keep the transfer away from the colorful globe on black stand, and place it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe featuring bright country colors, then place on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the small world globe, then place on blue pad.",
+    "Grab the red block, transfer it while steering clear of the earth-shaped globe with black frame, place on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the globe sitting on curved black base, then sets it on blue pad.",
+    "Lift the red block, do a handover avoiding the small sphere showing earth map, then place it onto the blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the earth-shaped globe with black frame, then places on blue pad.",
+    "Use left arm to pick red block, avoid the blue sphere with countries marked during handoff, right arm place blue pad.",
+    "Left arm lifts red block, handover away from the blue globe, right arm sets it on blue pad.",
+    "Left arm take red block, keep the pass away from the globe featuring bright country colors, right arm puts on blue pad.",
+    "Secure the red block, transfer it away from the globe featuring bright country colors, and drop it onto the blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe sitting on curved black base, place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the blue globe, set on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the blue globe with colorful continents, place blue pad.",
+    "Pick up the red block, transfer it while staying clear of the blue globe with colorful continents, and place on blue pad.",
+    "Lift the red block, hand it across away from the globe sitting on curved black base, then place it on blue pad.",
+    "Take the red block from the table, pass it clear of the blue globe, and put it on blue pad.",
+    "Grab red block, pass it along a path clear of the small world globe, place onto blue pad.",
+    "Take the red block from the table, hand over away from the hand-sized globe on sturdy stand, drop on blue pad.",
+    "Left arm grips red block, hands off away from the globe sitting on curved black base, right arm places on blue pad.",
+    "Pick the red block, keep the transfer away from the small sphere showing earth map, and place it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the colorful globe on black stand, then place on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the small sphere showing earth map, then place on blue pad.",
+    "Grab the red block, transfer it while steering clear of the earth-shaped globe with black frame, place on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the blue globe with colorful continents, then sets it on blue pad.",
+    "Lift the red block, do a handover avoiding the small sphere showing earth map, then place it onto the blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the earth-shaped globe with black frame, then places on blue pad.",
+    "Use left arm to pick red block, avoid the small world globe during handoff, right arm place blue pad.",
+    "Left arm lifts red block, handover away from the small world globe, right arm sets it on blue pad.",
+    "Left arm take red block, keep the pass away from the blue sphere with countries marked, right arm puts on blue pad.",
+    "Secure the red block, transfer it away from the blue globe with colorful continents, and drop it onto the blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe featuring bright country colors, place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the blue globe with colorful continents, set on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the compact globe with labeled countries, place blue pad.",
+    "Pick up the red block, transfer it while staying clear of the small world globe, and place on blue pad.",
+    "Lift the red block, hand it across away from the colorful globe on black stand, then place it on blue pad.",
+    "Take the red block from the table, pass it clear of the earth-shaped globe with black frame, and put it on blue pad.",
+    "Grab red block, pass it along a path clear of the globe with curved black base, place onto blue pad.",
+    "Take the red block from the table, hand over away from the blue globe, drop on blue pad.",
+    "Left arm grips red block, hands off away from the compact globe with labeled countries, right arm places on blue pad.",
+    "Pick the red block, keep the transfer away from the colorful globe on black stand, and place it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the small world globe, then place on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the earth-shaped globe with black frame, then place on blue pad.",
+    "Grab the red block, transfer it while steering clear of the globe with curved black base, place on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the earth-shaped globe with black frame, then sets it on blue pad.",
+    "Lift the red block, do a handover avoiding the blue globe, then place it onto the blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe featuring bright country colors, then places on blue pad.",
+    "Use left arm to pick red block, avoid the small world globe during handoff, right arm place blue pad.",
+    "Left arm lifts red block, handover away from the blue sphere with countries marked, right arm sets it on blue pad.",
+    "Left arm take red block, keep the pass away from the blue globe, right arm puts on blue pad.",
+    "Secure the red block, transfer it away from the colorful globe on black stand, and drop it onto the blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe sitting on curved black base, place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the blue sphere with countries marked, set on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the small sphere showing earth map, place blue pad.",
+    "Pick up the red block, transfer it while staying clear of the blue globe, and place on blue pad.",
+    "Lift the red block, hand it across away from the globe featuring bright country colors, then place it on blue pad.",
+    "Take the red block from the table, pass it clear of the blue sphere with countries marked, and put it on blue pad.",
+    "Grab red block, pass it along a path clear of the globe sitting on curved black base, place onto blue pad.",
+    "Take the red block from the table, hand over away from the compact globe with labeled countries, drop on blue pad.",
+    "Left arm grips red block, hands off away from the colorful globe on black stand, right arm places on blue pad.",
+    "Pick the red block, keep the transfer away from the small world globe, and place it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the small world globe, then place on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the globe sitting on curved black base, then place on blue pad.",
+    "Grab the red block, transfer it while steering clear of the compact globe with labeled countries, place on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the blue sphere with countries marked, then sets it on blue pad.",
+    "Lift the red block, do a handover avoiding the hand-sized globe on sturdy stand, then place it onto the blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe featuring bright country colors, then places on blue pad.",
+    "Use left arm to pick red block, avoid the hand-sized globe on sturdy stand during handoff, right arm place blue pad.",
+    "Left arm lifts red block, handover away from the globe sitting on curved black base, right arm sets it on blue pad.",
+    "Left arm take red block, keep the pass away from the globe featuring bright country colors, right arm puts on blue pad.",
+    "Secure the red block, transfer it away from the globe with curved black base, and drop it onto the blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the hand-sized globe on sturdy stand, place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the blue globe, set on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe sitting on curved black base, place blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe featuring bright country colors, and place on blue pad.",
+    "Lift the red block, hand it across away from the blue globe, then place it on blue pad.",
+    "Take the red block from the table, pass it clear of the blue globe with colorful continents, and put it on blue pad.",
+    "Grab red block, pass it along a path clear of the blue globe, place onto blue pad.",
+    "Take the red block from the table, hand over away from the earth-shaped globe with black frame, drop on blue pad.",
+    "Left arm grips red block, hands off away from the hand-sized globe on sturdy stand, right arm places on blue pad.",
+    "Pick the red block, keep the transfer away from the blue globe with colorful continents, and place it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the blue globe with colorful continents, then place on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the blue globe, then place on blue pad.",
+    "Grab the red block, transfer it while steering clear of the blue globe, place on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the globe with curved black base, then sets it on blue pad.",
+    "Lift the red block, do a handover avoiding the colorful globe on black stand, then place it onto the blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the blue sphere with countries marked, then places on blue pad."
+  ],
+  "unseen": [
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad."
+  ]
+}
\ No newline at end of file
diff --git a/handover_block_wp1/handover_block_wp1/instructions/episode61.json b/handover_block_wp1/handover_block_wp1/instructions/episode61.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb15de3ca02fe961ff88c02c039b413d20091420
--- /dev/null
+++ b/handover_block_wp1/handover_block_wp1/instructions/episode61.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use left arm to pick red block, pass to right arm clear of the small sphere showing earth map, place on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe with curved black base, place blue pad.",
+    "Left arm grabs red block, right arm receives it away from the hand-sized globe on sturdy stand, then sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe featuring bright country colors, then place on blue pad.",
+    "Secure the red block, transfer it away from the earth-shaped globe with black frame, and drop it onto the blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe with curved black base, then places on blue pad.",
+    "Pick the red block, keep the transfer away from the globe with curved black base, and place it on blue pad.",
+    "Take the red block from the table, pass it clear of the earth-shaped globe with black frame, and put it on blue pad.",
+    "Left arm grips red block, hands off away from the globe featuring bright country colors, right arm places on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the earth-shaped globe with black frame, set on blue pad.",
+    "Lift the red block, hand it across away from the small sphere showing earth map, then place it on blue pad.",
+    "Left arm take red block, keep the pass away from the earth-shaped globe with black frame, right arm puts on blue pad.",
+    "Use left arm to pick red block, avoid the small sphere showing earth map during handoff, right arm place blue pad.",
+    "Left arm lifts red block, handover away from the blue sphere with countries marked, right arm sets it on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the small world globe, and place on blue pad.",
+    "Lift the red block, do a handover avoiding the blue sphere with countries marked, then place it onto the blue pad.",
+    "Pick the red block, hand it over while keeping clear of the small world globe, then place on blue pad.",
+    "Take the red block from the table, hand over away from the compact globe with labeled countries, drop on blue pad.",
+    "Grab the red block, transfer it while steering clear of the blue globe with colorful continents, place on blue pad.",
+    "Grab red block, pass it along a path clear of the globe featuring bright country colors, place onto blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe featuring bright country colors, place on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the blue globe with colorful continents, place blue pad.",
+    "Left arm grabs red block, right arm receives it away from the compact globe with labeled countries, then sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe featuring bright country colors, then place on blue pad.",
+    "Secure the red block, transfer it away from the globe with curved black base, and drop it onto the blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe sitting on curved black base, then places on blue pad.",
+    "Pick the red block, keep the transfer away from the earth-shaped globe with black frame, and place it on blue pad.",
+    "Take the red block from the table, pass it clear of the compact globe with labeled countries, and put it on blue pad.",
+    "Left arm grips red block, hands off away from the small sphere showing earth map, right arm places on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the small world globe, set on blue pad.",
+    "Lift the red block, hand it across away from the hand-sized globe on sturdy stand, then place it on blue pad.",
+    "Left arm take red block, keep the pass away from the globe sitting on curved black base, right arm puts on blue pad.",
+    "Use left arm to pick red block, avoid the blue globe with colorful continents during handoff, right arm place blue pad.",
+    "Left arm lifts red block, handover away from the small sphere showing earth map, right arm sets it on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the hand-sized globe on sturdy stand, and place on blue pad.",
+    "Lift the red block, do a handover avoiding the globe with curved black base, then place it onto the blue pad.",
+    "Pick the red block, hand it over while keeping clear of the blue globe, then place on blue pad.",
+    "Take the red block from the table, hand over away from the blue sphere with countries marked, drop on blue pad.",
+    "Grab the red block, transfer it while steering clear of the blue globe, place on blue pad.",
+    "Grab red block, pass it along a path clear of the globe featuring bright country colors, place onto blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the blue globe, place on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe with curved black base, place blue pad.",
+    "Left arm grabs red block, right arm receives it away from the blue sphere with countries marked, then sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe featuring bright country colors, then place on blue pad.",
+    "Secure the red block, transfer it away from the globe with curved black base, and drop it onto the blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the earth-shaped globe with black frame, then places on blue pad.",
+    "Pick the red block, keep the transfer away from the small sphere showing earth map, and place it on blue pad.",
+    "Take the red block from the table, pass it clear of the globe featuring bright country colors, and put it on blue pad.",
+    "Left arm grips red block, hands off away from the globe with curved black base, right arm places on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the small world globe, set on blue pad.",
+    "Lift the red block, hand it across away from the blue sphere with countries marked, then place it on blue pad.",
+    "Left arm take red block, keep the pass away from the globe with curved black base, right arm puts on blue pad.",
+    "Use left arm to pick red block, avoid the colorful globe on black stand during handoff, right arm place blue pad.",
+    "Left arm lifts red block, handover away from the blue globe with colorful continents, right arm sets it on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the small world globe, and place on blue pad.",
+    "Lift the red block, do a handover avoiding the globe with curved black base, then place it onto the blue pad.",
+    "Pick the red block, hand it over while keeping clear of the globe sitting on curved black base, then place on blue pad.",
+    "Take the red block from the table, hand over away from the blue globe with colorful continents, drop on blue pad.",
+    "Grab the red block, transfer it while steering clear of the blue globe with colorful continents, place on blue pad.",
+    "Grab red block, pass it along a path clear of the hand-sized globe on sturdy stand, place onto blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe with curved black base, place on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the small sphere showing earth map, place blue pad.",
+    "Left arm grabs red block, right arm receives it away from the compact globe with labeled countries, then sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the blue globe with colorful continents, then place on blue pad.",
+    "Secure the red block, transfer it away from the colorful globe on black stand, and drop it onto the blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the blue globe, then places on blue pad.",
+    "Pick the red block, keep the transfer away from the blue globe, and place it on blue pad.",
+    "Take the red block from the table, pass it clear of the colorful globe on black stand, and put it on blue pad.",
+    "Left arm grips red block, hands off away from the blue globe with colorful continents, right arm places on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the blue globe with colorful continents, set on blue pad.",
+    "Lift the red block, hand it across away from the compact globe with labeled countries, then place it on blue pad.",
+    "Left arm take red block, keep the pass away from the compact globe with labeled countries, right arm puts on blue pad.",
+    "Use left arm to pick red block, avoid the small world globe during handoff, right arm place blue pad.",
+    "Left arm lifts red block, handover away from the globe with curved black base, right arm sets it on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the blue sphere with countries marked, and place on blue pad.",
+    "Lift the red block, do a handover avoiding the colorful globe on black stand, then place it onto the blue pad.",
+    "Pick the red block, hand it over while keeping clear of the small world globe, then place on blue pad.",
+    "Take the red block from the table, hand over away from the small world globe, drop on blue pad.",
+    "Grab the red block, transfer it while steering clear of the blue globe with colorful continents, place on blue pad.",
+    "Grab red block, pass it along a path clear of the earth-shaped globe with black frame, place onto blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the earth-shaped globe with black frame, place on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the small sphere showing earth map, place blue pad.",
+    "Left arm grabs red block, right arm receives it away from the blue globe with colorful continents, then sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe featuring bright country colors, then place on blue pad.",
+    "Secure the red block, transfer it away from the globe featuring bright country colors, and drop it onto the blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe with curved black base, then places on blue pad.",
+    "Pick the red block, keep the transfer away from the globe sitting on curved black base, and place it on blue pad.",
+    "Take the red block from the table, pass it clear of the blue sphere with countries marked, and put it on blue pad.",
+    "Left arm grips red block, hands off away from the blue sphere with countries marked, right arm places on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe featuring bright country colors, set on blue pad.",
+    "Lift the red block, hand it across away from the blue sphere with countries marked, then place it on blue pad.",
+    "Left arm take red block, keep the pass away from the globe featuring bright country colors, right arm puts on blue pad.",
+    "Use left arm to pick red block, avoid the small sphere showing earth map during handoff, right arm place blue pad.",
+    "Left arm lifts red block, handover away from the earth-shaped globe with black frame, right arm sets it on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the blue globe with colorful continents, and place on blue pad.",
+    "Lift the red block, do a handover avoiding the small sphere showing earth map, then place it onto the blue pad.",
+    "Pick the red block, hand it over while keeping clear of the blue globe with colorful continents, then place on blue pad.",
+    "Take the red block from the table, hand over away from the globe with curved black base, drop on blue pad.",
+    "Grab the red block, transfer it while steering clear of the blue globe, place on blue pad.",
+    "Grab red block, pass it along a path clear of the colorful globe on black stand, place onto blue pad."
+  ],
+  "unseen": [
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad."
+  ]
+}
\ No newline at end of file
diff --git a/handover_block_wp1/handover_block_wp1/instructions/episode62.json b/handover_block_wp1/handover_block_wp1/instructions/episode62.json
new file mode 100644
index 0000000000000000000000000000000000000000..1be6cf1c4b6d6543d99c47e0edaece8c7a1c2d6f
--- /dev/null
+++ b/handover_block_wp1/handover_block_wp1/instructions/episode62.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the red block, keep the transfer away from the Earth map globe, and place it on blue pad.",
+    "Take the red block from the table, pass it clear of the round globe with sturdy base, and put it on blue pad.",
+    "Lift the red block, hand it across away from the round Earth globe, then place it on blue pad.",
+    "Grab red block, pass it along a path clear of the globe with curved black stand, place onto blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the round Earth globe, set on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the decor piece globe, place blue pad.",
+    "Left arm grabs red block, right arm receives it away from the Earth map globe, then sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the brown globe on black stand, then place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the decor piece globe, and place on blue pad.",
+    "Left arm take red block, keep the pass away from the round globe with sturdy base, right arm puts on blue pad.",
+    "Left arm lifts red block, handover away from the decor piece globe, right arm sets it on blue pad.",
+    "Use left arm to pick red block, avoid the Earth map globe during handoff, right arm place blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the beige and brown globe, place on blue pad.",
+    "Grab the red block, transfer it while steering clear of the globe with smooth surface, place on blue pad.",
+    "Lift the red block, do a handover avoiding the wooden globe with metal base, then place it onto the blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the decor piece globe, then places on blue pad.",
+    "Take the red block from the table, hand over away from the globe with curved black stand, drop on blue pad.",
+    "Left arm grips red block, hands off away from the round Earth globe, right arm places on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the globe with curved black stand, then place on blue pad.",
+    "Secure the red block, transfer it away from the wooden globe with metal base, and drop it onto the blue pad.",
+    "Pick the red block, keep the transfer away from the globe with smooth surface, and place it on blue pad.",
+    "Take the red block from the table, pass it clear of the beige and brown globe, and put it on blue pad.",
+    "Lift the red block, hand it across away from the round Earth globe, then place it on blue pad.",
+    "Grab red block, pass it along a path clear of the Earth map globe, place onto blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the beige and brown globe, set on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the wooden globe with metal base, place blue pad.",
+    "Left arm grabs red block, right arm receives it away from the spinning brown globe, then sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the smooth beige globe with continents, then place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe with smooth surface, and place on blue pad.",
+    "Left arm take red block, keep the pass away from the globe for geographic reference, right arm puts on blue pad.",
+    "Left arm lifts red block, handover away from the brown globe on black stand, right arm sets it on blue pad.",
+    "Use left arm to pick red block, avoid the spinning brown globe during handoff, right arm place blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the decor piece globe, place on blue pad.",
+    "Grab the red block, transfer it while steering clear of the globe for geographic reference, place on blue pad.",
+    "Lift the red block, do a handover avoiding the globe with smooth surface, then place it onto the blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe for geographic reference, then places on blue pad.",
+    "Take the red block from the table, hand over away from the globe with smooth surface, drop on blue pad.",
+    "Left arm grips red block, hands off away from the Earth map globe, right arm places on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the round Earth globe, then place on blue pad.",
+    "Secure the red block, transfer it away from the brown globe on black stand, and drop it onto the blue pad.",
+    "Pick the red block, keep the transfer away from the Earth map globe, and place it on blue pad.",
+    "Take the red block from the table, pass it clear of the brown globe on black stand, and put it on blue pad.",
+    "Lift the red block, hand it across away from the round Earth globe, then place it on blue pad.",
+    "Grab red block, pass it along a path clear of the wooden globe with metal base, place onto blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the spinning brown globe, set on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the beige and brown globe, place blue pad.",
+    "Left arm grabs red block, right arm receives it away from the spinning brown globe, then sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the round globe with sturdy base, then place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the smooth beige globe with continents, and place on blue pad.",
+    "Left arm take red block, keep the pass away from the globe with smooth surface, right arm puts on blue pad.",
+    "Left arm lifts red block, handover away from the wooden globe with metal base, right arm sets it on blue pad.",
+    "Use left arm to pick red block, avoid the globe for geographic reference during handoff, right arm place blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe with curved black stand, place on blue pad.",
+    "Grab the red block, transfer it while steering clear of the brown globe on black stand, place on blue pad.",
+    "Lift the red block, do a handover avoiding the beige and brown globe, then place it onto the blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the Earth map globe, then places on blue pad.",
+    "Take the red block from the table, hand over away from the brown globe on black stand, drop on blue pad.",
+    "Left arm grips red block, hands off away from the round globe with sturdy base, right arm places on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the globe for geographic reference, then place on blue pad.",
+    "Secure the red block, transfer it away from the brown globe on black stand, and drop it onto the blue pad.",
+    "Pick the red block, keep the transfer away from the wooden globe with metal base, and place it on blue pad.",
+    "Take the red block from the table, pass it clear of the globe with smooth surface, and put it on blue pad.",
+    "Lift the red block, hand it across away from the decor piece globe, then place it on blue pad.",
+    "Grab red block, pass it along a path clear of the globe for geographic reference, place onto blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the round globe with sturdy base, set on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the round globe with sturdy base, place blue pad.",
+    "Left arm grabs red block, right arm receives it away from the wooden globe with metal base, then sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the decor piece globe, then place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the decor piece globe, and place on blue pad.",
+    "Left arm take red block, keep the pass away from the round globe with sturdy base, right arm puts on blue pad.",
+    "Left arm lifts red block, handover away from the smooth beige globe with continents, right arm sets it on blue pad.",
+    "Use left arm to pick red block, avoid the globe with curved black stand during handoff, right arm place blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the smooth beige globe with continents, place on blue pad.",
+    "Grab the red block, transfer it while steering clear of the Earth map globe, place on blue pad.",
+    "Lift the red block, do a handover avoiding the round globe with sturdy base, then place it onto the blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the smooth beige globe with continents, then places on blue pad.",
+    "Take the red block from the table, hand over away from the globe with curved black stand, drop on blue pad.",
+    "Left arm grips red block, hands off away from the Earth map globe, right arm places on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the globe with smooth surface, then place on blue pad.",
+    "Secure the red block, transfer it away from the smooth beige globe with continents, and drop it onto the blue pad.",
+    "Pick the red block, keep the transfer away from the wooden globe with metal base, and place it on blue pad.",
+    "Take the red block from the table, pass it clear of the round globe with sturdy base, and put it on blue pad.",
+    "Lift the red block, hand it across away from the round globe with sturdy base, then place it on blue pad.",
+    "Grab red block, pass it along a path clear of the beige and brown globe, place onto blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the spinning brown globe, set on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the smooth beige globe with continents, place blue pad.",
+    "Left arm grabs red block, right arm receives it away from the decor piece globe, then sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the wooden globe with metal base, then place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the spinning brown globe, and place on blue pad.",
+    "Left arm take red block, keep the pass away from the brown globe on black stand, right arm puts on blue pad.",
+    "Left arm lifts red block, handover away from the globe with smooth surface, right arm sets it on blue pad.",
+    "Use left arm to pick red block, avoid the brown globe on black stand during handoff, right arm place blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the brown globe on black stand, place on blue pad.",
+    "Grab the red block, transfer it while steering clear of the smooth beige globe with continents, place on blue pad.",
+    "Lift the red block, do a handover avoiding the brown globe on black stand, then place it onto the blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the decor piece globe, then places on blue pad.",
+    "Take the red block from the table, hand over away from the globe with curved black stand, drop on blue pad.",
+    "Left arm grips red block, hands off away from the globe with smooth surface, right arm places on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the Earth map globe, then place on blue pad.",
+    "Secure the red block, transfer it away from the wooden globe with metal base, and drop it onto the blue pad."
+  ],
+  "unseen": [
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad."
+  ]
+}
\ No newline at end of file
diff --git a/handover_block_wp1/handover_block_wp1/instructions/episode63.json b/handover_block_wp1/handover_block_wp1/instructions/episode63.json
new file mode 100644
index 0000000000000000000000000000000000000000..e363908c902d50b006af78f47e404faa5e72be65
--- /dev/null
+++ b/handover_block_wp1/handover_block_wp1/instructions/episode63.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Left arm takes the red block, hands it to right arm avoiding the earth-shaped globe with black frame, then places on blue pad.",
+    "Lift the red block, hand it across away from the small sphere showing earth map, then place it on blue pad.",
+    "Grab red block, pass it along a path clear of the blue globe, place onto blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe with curved black base, place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe sitting on curved black base, set on blue pad.",
+    "Secure the red block, transfer it away from the blue globe, and drop it onto the blue pad.",
+    "Left arm grabs red block, right arm receives it away from the globe sitting on curved black base, then sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the blue globe with colorful continents, then place on blue pad.",
+    "Lift the red block, do a handover avoiding the globe featuring bright country colors, then place it onto the blue pad.",
+    "Pick the red block, keep the transfer away from the small sphere showing earth map, and place it on blue pad.",
+    "Left arm take red block, keep the pass away from the blue globe, right arm puts on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the colorful globe on black stand, place blue pad.",
+    "Pick up the red block, transfer it while staying clear of the blue sphere with countries marked, and place on blue pad.",
+    "Take the red block from the table, hand over away from the compact globe with labeled countries, drop on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the globe featuring bright country colors, then place on blue pad.",
+    "Grab the red block, transfer it while steering clear of the small world globe, place on blue pad.",
+    "Use left arm to pick red block, avoid the earth-shaped globe with black frame during handoff, right arm place blue pad.",
+    "Left arm grips red block, hands off away from the globe sitting on curved black base, right arm places on blue pad.",
+    "Take the red block from the table, pass it clear of the small world globe, and put it on blue pad.",
+    "Left arm lifts red block, handover away from the blue globe, right arm sets it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the earth-shaped globe with black frame, then places on blue pad.",
+    "Lift the red block, hand it across away from the globe with curved black base, then place it on blue pad.",
+    "Grab red block, pass it along a path clear of the globe featuring bright country colors, place onto blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the small world globe, place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the blue sphere with countries marked, set on blue pad.",
+    "Secure the red block, transfer it away from the small sphere showing earth map, and drop it onto the blue pad.",
+    "Left arm grabs red block, right arm receives it away from the blue sphere with countries marked, then sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the blue globe, then place on blue pad.",
+    "Lift the red block, do a handover avoiding the blue sphere with countries marked, then place it onto the blue pad.",
+    "Pick the red block, keep the transfer away from the blue globe with colorful continents, and place it on blue pad.",
+    "Left arm take red block, keep the pass away from the globe with curved black base, right arm puts on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the earth-shaped globe with black frame, place blue pad.",
+    "Pick up the red block, transfer it while staying clear of the compact globe with labeled countries, and place on blue pad.",
+    "Take the red block from the table, hand over away from the globe sitting on curved black base, drop on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the blue globe with colorful continents, then place on blue pad.",
+    "Grab the red block, transfer it while steering clear of the globe featuring bright country colors, place on blue pad.",
+    "Use left arm to pick red block, avoid the hand-sized globe on sturdy stand during handoff, right arm place blue pad.",
+    "Left arm grips red block, hands off away from the blue sphere with countries marked, right arm places on blue pad.",
+    "Take the red block from the table, pass it clear of the globe sitting on curved black base, and put it on blue pad.",
+    "Left arm lifts red block, handover away from the small sphere showing earth map, right arm sets it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the blue globe with colorful continents, then places on blue pad.",
+    "Lift the red block, hand it across away from the small world globe, then place it on blue pad.",
+    "Grab red block, pass it along a path clear of the small sphere showing earth map, place onto blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe featuring bright country colors, place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the hand-sized globe on sturdy stand, set on blue pad.",
+    "Secure the red block, transfer it away from the globe with curved black base, and drop it onto the blue pad.",
+    "Left arm grabs red block, right arm receives it away from the blue globe, then sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the hand-sized globe on sturdy stand, then place on blue pad.",
+    "Lift the red block, do a handover avoiding the small world globe, then place it onto the blue pad.",
+    "Pick the red block, keep the transfer away from the blue globe with colorful continents, and place it on blue pad.",
+    "Left arm take red block, keep the pass away from the compact globe with labeled countries, right arm puts on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe sitting on curved black base, place blue pad.",
+    "Pick up the red block, transfer it while staying clear of the colorful globe on black stand, and place on blue pad.",
+    "Take the red block from the table, hand over away from the compact globe with labeled countries, drop on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the small world globe, then place on blue pad.",
+    "Grab the red block, transfer it while steering clear of the small sphere showing earth map, place on blue pad.",
+    "Use left arm to pick red block, avoid the blue globe during handoff, right arm place blue pad.",
+    "Left arm grips red block, hands off away from the earth-shaped globe with black frame, right arm places on blue pad.",
+    "Take the red block from the table, pass it clear of the blue globe, and put it on blue pad.",
+    "Left arm lifts red block, handover away from the hand-sized globe on sturdy stand, right arm sets it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the blue globe, then places on blue pad.",
+    "Lift the red block, hand it across away from the blue sphere with countries marked, then place it on blue pad.",
+    "Grab red block, pass it along a path clear of the blue globe with colorful continents, place onto blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the small world globe, place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe with curved black base, set on blue pad.",
+    "Secure the red block, transfer it away from the earth-shaped globe with black frame, and drop it onto the blue pad.",
+    "Left arm grabs red block, right arm receives it away from the small sphere showing earth map, then sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the hand-sized globe on sturdy stand, then place on blue pad.",
+    "Lift the red block, do a handover avoiding the blue globe, then place it onto the blue pad.",
+    "Pick the red block, keep the transfer away from the earth-shaped globe with black frame, and place it on blue pad.",
+    "Left arm take red block, keep the pass away from the earth-shaped globe with black frame, right arm puts on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the earth-shaped globe with black frame, place blue pad.",
+    "Pick up the red block, transfer it while staying clear of the small world globe, and place on blue pad.",
+    "Take the red block from the table, hand over away from the globe with curved black base, drop on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the hand-sized globe on sturdy stand, then place on blue pad.",
+    "Grab the red block, transfer it while steering clear of the colorful globe on black stand, place on blue pad.",
+    "Use left arm to pick red block, avoid the globe with curved black base during handoff, right arm place blue pad.",
+    "Left arm grips red block, hands off away from the small sphere showing earth map, right arm places on blue pad.",
+    "Take the red block from the table, pass it clear of the compact globe with labeled countries, and put it on blue pad.",
+    "Left arm lifts red block, handover away from the hand-sized globe on sturdy stand, right arm sets it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe sitting on curved black base, then places on blue pad.",
+    "Lift the red block, hand it across away from the blue globe, then place it on blue pad.",
+    "Grab red block, pass it along a path clear of the small world globe, place onto blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe sitting on curved black base, place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the small world globe, set on blue pad.",
+    "Secure the red block, transfer it away from the hand-sized globe on sturdy stand, and drop it onto the blue pad.",
+    "Left arm grabs red block, right arm receives it away from the globe sitting on curved black base, then sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe featuring bright country colors, then place on blue pad.",
+    "Lift the red block, do a handover avoiding the compact globe with labeled countries, then place it onto the blue pad.",
+    "Pick the red block, keep the transfer away from the blue sphere with countries marked, and place it on blue pad.",
+    "Left arm take red block, keep the pass away from the small world globe, right arm puts on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the colorful globe on black stand, place blue pad.",
+    "Pick up the red block, transfer it while staying clear of the small sphere showing earth map, and place on blue pad.",
+    "Take the red block from the table, hand over away from the globe featuring bright country colors, drop on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the blue sphere with countries marked, then place on blue pad.",
+    "Grab the red block, transfer it while steering clear of the blue globe with colorful continents, place on blue pad.",
+    "Use left arm to pick red block, avoid the earth-shaped globe with black frame during handoff, right arm place blue pad.",
+    "Left arm grips red block, hands off away from the globe with curved black base, right arm places on blue pad.",
+    "Take the red block from the table, pass it clear of the colorful globe on black stand, and put it on blue pad.",
+    "Left arm lifts red block, handover away from the small sphere showing earth map, right arm sets it on blue pad."
+  ],
+  "unseen": [
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad."
+  ]
+}
\ No newline at end of file
diff --git a/handover_block_wp1/handover_block_wp1/instructions/episode64.json b/handover_block_wp1/handover_block_wp1/instructions/episode64.json
new file mode 100644
index 0000000000000000000000000000000000000000..9719a494228428ddf264d850dff22ed23287fd7b
--- /dev/null
+++ b/handover_block_wp1/handover_block_wp1/instructions/episode64.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use left arm to pick red block, avoid the compact globe with labeled countries during handoff, right arm place blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe with curved black base, place blue pad.",
+    "Take the red block from the table, hand over away from the small sphere showing earth map, drop on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the hand-sized globe on sturdy stand, then sets it on blue pad.",
+    "Grab red block, pass it along a path clear of the globe featuring bright country colors, place onto blue pad.",
+    "Pick the red block, keep the transfer away from the globe sitting on curved black base, and place it on blue pad.",
+    "Left arm take red block, keep the pass away from the small world globe, right arm puts on blue pad.",
+    "Lift the red block, do a handover avoiding the compact globe with labeled countries, then place it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the compact globe with labeled countries, then place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the blue globe with colorful continents, place on blue pad.",
+    "Secure the red block, transfer it away from the globe featuring bright country colors, and drop it onto the blue pad.",
+    "Pick the red block, hand it over while keeping clear of the earth-shaped globe with black frame, then place on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the compact globe with labeled countries, then places on blue pad.",
+    "Take the red block from the table, pass it clear of the colorful globe on black stand, and put it on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe featuring bright country colors, and place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe with curved black base, set on blue pad.",
+    "Lift the red block, hand it across away from the blue globe with colorful continents, then place it on blue pad.",
+    "Left arm grips red block, hands off away from the earth-shaped globe with black frame, right arm places on blue pad.",
+    "Grab the red block, transfer it while steering clear of the blue globe, place on blue pad.",
+    "Left arm lifts red block, handover away from the compact globe with labeled countries, right arm sets it on blue pad.",
+    "Use left arm to pick red block, avoid the blue globe with colorful continents during handoff, right arm place blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe featuring bright country colors, place blue pad.",
+    "Take the red block from the table, hand over away from the blue globe, drop on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the small world globe, then sets it on blue pad.",
+    "Grab red block, pass it along a path clear of the globe sitting on curved black base, place onto blue pad.",
+    "Pick the red block, keep the transfer away from the hand-sized globe on sturdy stand, and place it on blue pad.",
+    "Left arm take red block, keep the pass away from the blue globe, right arm puts on blue pad.",
+    "Lift the red block, do a handover avoiding the colorful globe on black stand, then place it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the small world globe, then place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the blue sphere with countries marked, place on blue pad.",
+    "Secure the red block, transfer it away from the blue globe with colorful continents, and drop it onto the blue pad.",
+    "Pick the red block, hand it over while keeping clear of the compact globe with labeled countries, then place on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe with curved black base, then places on blue pad.",
+    "Take the red block from the table, pass it clear of the blue sphere with countries marked, and put it on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the earth-shaped globe with black frame, and place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the small world globe, set on blue pad.",
+    "Lift the red block, hand it across away from the compact globe with labeled countries, then place it on blue pad.",
+    "Left arm grips red block, hands off away from the globe featuring bright country colors, right arm places on blue pad.",
+    "Grab the red block, transfer it while steering clear of the compact globe with labeled countries, place on blue pad.",
+    "Left arm lifts red block, handover away from the earth-shaped globe with black frame, right arm sets it on blue pad.",
+    "Use left arm to pick red block, avoid the small world globe during handoff, right arm place blue pad.",
+    "With left arm, lift red block, hand to right arm away from the small sphere showing earth map, place blue pad.",
+    "Take the red block from the table, hand over away from the earth-shaped globe with black frame, drop on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the globe sitting on curved black base, then sets it on blue pad.",
+    "Grab red block, pass it along a path clear of the globe featuring bright country colors, place onto blue pad.",
+    "Pick the red block, keep the transfer away from the earth-shaped globe with black frame, and place it on blue pad.",
+    "Left arm take red block, keep the pass away from the blue sphere with countries marked, right arm puts on blue pad.",
+    "Lift the red block, do a handover avoiding the blue sphere with countries marked, then place it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the compact globe with labeled countries, then place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the small sphere showing earth map, place on blue pad.",
+    "Secure the red block, transfer it away from the blue globe with colorful continents, and drop it onto the blue pad.",
+    "Pick the red block, hand it over while keeping clear of the hand-sized globe on sturdy stand, then place on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the blue sphere with countries marked, then places on blue pad.",
+    "Take the red block from the table, pass it clear of the colorful globe on black stand, and put it on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe featuring bright country colors, and place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe sitting on curved black base, set on blue pad.",
+    "Lift the red block, hand it across away from the small sphere showing earth map, then place it on blue pad.",
+    "Left arm grips red block, hands off away from the blue globe with colorful continents, right arm places on blue pad.",
+    "Grab the red block, transfer it while steering clear of the blue sphere with countries marked, place on blue pad.",
+    "Left arm lifts red block, handover away from the globe sitting on curved black base, right arm sets it on blue pad.",
+    "Use left arm to pick red block, avoid the blue globe with colorful continents during handoff, right arm place blue pad.",
+    "With left arm, lift red block, hand to right arm away from the blue sphere with countries marked, place blue pad.",
+    "Take the red block from the table, hand over away from the globe featuring bright country colors, drop on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the blue globe with colorful continents, then sets it on blue pad.",
+    "Grab red block, pass it along a path clear of the globe with curved black base, place onto blue pad.",
+    "Pick the red block, keep the transfer away from the earth-shaped globe with black frame, and place it on blue pad.",
+    "Left arm take red block, keep the pass away from the blue sphere with countries marked, right arm puts on blue pad.",
+    "Lift the red block, do a handover avoiding the small world globe, then place it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the compact globe with labeled countries, then place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the colorful globe on black stand, place on blue pad.",
+    "Secure the red block, transfer it away from the blue globe, and drop it onto the blue pad.",
+    "Pick the red block, hand it over while keeping clear of the globe with curved black base, then place on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the colorful globe on black stand, then places on blue pad.",
+    "Take the red block from the table, pass it clear of the compact globe with labeled countries, and put it on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe with curved black base, and place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the blue sphere with countries marked, set on blue pad.",
+    "Lift the red block, hand it across away from the globe with curved black base, then place it on blue pad.",
+    "Left arm grips red block, hands off away from the blue globe, right arm places on blue pad.",
+    "Grab the red block, transfer it while steering clear of the earth-shaped globe with black frame, place on blue pad.",
+    "Left arm lifts red block, handover away from the blue globe with colorful continents, right arm sets it on blue pad.",
+    "Use left arm to pick red block, avoid the globe with curved black base during handoff, right arm place blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe with curved black base, place blue pad.",
+    "Take the red block from the table, hand over away from the earth-shaped globe with black frame, drop on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the hand-sized globe on sturdy stand, then sets it on blue pad.",
+    "Grab red block, pass it along a path clear of the small sphere showing earth map, place onto blue pad.",
+    "Pick the red block, keep the transfer away from the small world globe, and place it on blue pad.",
+    "Left arm take red block, keep the pass away from the globe with curved black base, right arm puts on blue pad.",
+    "Lift the red block, do a handover avoiding the colorful globe on black stand, then place it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the earth-shaped globe with black frame, then place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the blue globe with colorful continents, place on blue pad.",
+    "Secure the red block, transfer it away from the globe with curved black base, and drop it onto the blue pad.",
+    "Pick the red block, hand it over while keeping clear of the blue sphere with countries marked, then place on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the small world globe, then places on blue pad.",
+    "Take the red block from the table, pass it clear of the small sphere showing earth map, and put it on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the small world globe, and place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the earth-shaped globe with black frame, set on blue pad.",
+    "Lift the red block, hand it across away from the small world globe, then place it on blue pad.",
+    "Left arm grips red block, hands off away from the globe with curved black base, right arm places on blue pad.",
+    "Grab the red block, transfer it while steering clear of the globe featuring bright country colors, place on blue pad.",
+    "Left arm lifts red block, handover away from the globe featuring bright country colors, right arm sets it on blue pad."
+  ],
+  "unseen": [
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad."
+  ]
+}
\ No newline at end of file
diff --git a/handover_block_wp1/handover_block_wp1/instructions/episode65.json b/handover_block_wp1/handover_block_wp1/instructions/episode65.json
new file mode 100644
index 0000000000000000000000000000000000000000..067abb39e077a709fc463362c8afc340a180211c
--- /dev/null
+++ b/handover_block_wp1/handover_block_wp1/instructions/episode65.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Left arm take red block, keep the pass away from the spinning brown globe, right arm puts on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the round Earth globe, place blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the wooden globe with metal base, place on blue pad.",
+    "Left arm lifts red block, handover away from the spinning brown globe, right arm sets it on blue pad.",
+    "Lift the red block, do a handover avoiding the decor piece globe, then place it onto the blue pad.",
+    "Pick the red block, hand it over while keeping clear of the globe with smooth surface, then place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the Earth map globe, and place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the wooden globe with metal base, set on blue pad.",
+    "Use left arm to pick red block, avoid the spinning brown globe during handoff, right arm place blue pad.",
+    "Left arm grips red block, hands off away from the spinning brown globe, right arm places on blue pad.",
+    "Pick the red block, keep the transfer away from the Earth map globe, and place it on blue pad.",
+    "Take the red block from the table, hand over away from the globe with smooth surface, drop on blue pad.",
+    "Secure the red block, transfer it away from the globe with curved black stand, and drop it onto the blue pad.",
+    "Left arm grabs red block, right arm receives it away from the round globe with sturdy base, then sets it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the smooth beige globe with continents, then places on blue pad.",
+    "Grab red block, pass it along a path clear of the globe with smooth surface, place onto blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the smooth beige globe with continents, then place on blue pad.",
+    "Lift the red block, hand it across away from the round Earth globe, then place it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the globe with smooth surface, place on blue pad.",
+    "Take the red block from the table, pass it clear of the round globe with sturdy base, and put it on blue pad.",
+    "Left arm take red block, keep the pass away from the globe with curved black stand, right arm puts on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the spinning brown globe, place blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the wooden globe with metal base, place on blue pad.",
+    "Left arm lifts red block, handover away from the globe with smooth surface, right arm sets it on blue pad.",
+    "Lift the red block, do a handover avoiding the Earth map globe, then place it onto the blue pad.",
+    "Pick the red block, hand it over while keeping clear of the smooth beige globe with continents, then place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the spinning brown globe, and place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the smooth beige globe with continents, set on blue pad.",
+    "Use left arm to pick red block, avoid the beige and brown globe during handoff, right arm place blue pad.",
+    "Left arm grips red block, hands off away from the round globe with sturdy base, right arm places on blue pad.",
+    "Pick the red block, keep the transfer away from the brown globe on black stand, and place it on blue pad.",
+    "Take the red block from the table, hand over away from the round Earth globe, drop on blue pad.",
+    "Secure the red block, transfer it away from the Earth map globe, and drop it onto the blue pad.",
+    "Left arm grabs red block, right arm receives it away from the spinning brown globe, then sets it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the smooth beige globe with continents, then places on blue pad.",
+    "Grab red block, pass it along a path clear of the smooth beige globe with continents, place onto blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the round Earth globe, then place on blue pad.",
+    "Lift the red block, hand it across away from the decor piece globe, then place it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the round globe with sturdy base, place on blue pad.",
+    "Take the red block from the table, pass it clear of the smooth beige globe with continents, and put it on blue pad.",
+    "Left arm take red block, keep the pass away from the wooden globe with metal base, right arm puts on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the brown globe on black stand, place blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the beige and brown globe, place on blue pad.",
+    "Left arm lifts red block, handover away from the wooden globe with metal base, right arm sets it on blue pad.",
+    "Lift the red block, do a handover avoiding the decor piece globe, then place it onto the blue pad.",
+    "Pick the red block, hand it over while keeping clear of the round Earth globe, then place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the wooden globe with metal base, and place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the spinning brown globe, set on blue pad.",
+    "Use left arm to pick red block, avoid the round globe with sturdy base during handoff, right arm place blue pad.",
+    "Left arm grips red block, hands off away from the smooth beige globe with continents, right arm places on blue pad.",
+    "Pick the red block, keep the transfer away from the globe with curved black stand, and place it on blue pad.",
+    "Take the red block from the table, hand over away from the round Earth globe, drop on blue pad.",
+    "Secure the red block, transfer it away from the wooden globe with metal base, and drop it onto the blue pad.",
+    "Left arm grabs red block, right arm receives it away from the globe with smooth surface, then sets it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe for geographic reference, then places on blue pad.",
+    "Grab red block, pass it along a path clear of the wooden globe with metal base, place onto blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the wooden globe with metal base, then place on blue pad.",
+    "Lift the red block, hand it across away from the round Earth globe, then place it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the globe for geographic reference, place on blue pad.",
+    "Take the red block from the table, pass it clear of the globe with curved black stand, and put it on blue pad.",
+    "Left arm take red block, keep the pass away from the smooth beige globe with continents, right arm puts on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the spinning brown globe, place blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the beige and brown globe, place on blue pad.",
+    "Left arm lifts red block, handover away from the globe for geographic reference, right arm sets it on blue pad.",
+    "Lift the red block, do a handover avoiding the spinning brown globe, then place it onto the blue pad.",
+    "Pick the red block, hand it over while keeping clear of the globe with curved black stand, then place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe with curved black stand, and place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the wooden globe with metal base, set on blue pad.",
+    "Use left arm to pick red block, avoid the globe with curved black stand during handoff, right arm place blue pad.",
+    "Left arm grips red block, hands off away from the round globe with sturdy base, right arm places on blue pad.",
+    "Pick the red block, keep the transfer away from the beige and brown globe, and place it on blue pad.",
+    "Take the red block from the table, hand over away from the globe with curved black stand, drop on blue pad.",
+    "Secure the red block, transfer it away from the globe for geographic reference, and drop it onto the blue pad.",
+    "Left arm grabs red block, right arm receives it away from the globe for geographic reference, then sets it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the smooth beige globe with continents, then places on blue pad.",
+    "Grab red block, pass it along a path clear of the smooth beige globe with continents, place onto blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the decor piece globe, then place on blue pad.",
+    "Lift the red block, hand it across away from the globe with curved black stand, then place it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the Earth map globe, place on blue pad.",
+    "Take the red block from the table, pass it clear of the beige and brown globe, and put it on blue pad.",
+    "Left arm take red block, keep the pass away from the wooden globe with metal base, right arm puts on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the spinning brown globe, place blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the round Earth globe, place on blue pad.",
+    "Left arm lifts red block, handover away from the globe with curved black stand, right arm sets it on blue pad.",
+    "Lift the red block, do a handover avoiding the globe with smooth surface, then place it onto the blue pad.",
+    "Pick the red block, hand it over while keeping clear of the smooth beige globe with continents, then place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the beige and brown globe, and place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the Earth map globe, set on blue pad.",
+    "Use left arm to pick red block, avoid the globe for geographic reference during handoff, right arm place blue pad.",
+    "Left arm grips red block, hands off away from the smooth beige globe with continents, right arm places on blue pad.",
+    "Pick the red block, keep the transfer away from the Earth map globe, and place it on blue pad.",
+    "Take the red block from the table, hand over away from the globe with curved black stand, drop on blue pad.",
+    "Secure the red block, transfer it away from the brown globe on black stand, and drop it onto the blue pad.",
+    "Left arm grabs red block, right arm receives it away from the round Earth globe, then sets it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the round Earth globe, then places on blue pad.",
+    "Grab red block, pass it along a path clear of the beige and brown globe, place onto blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the brown globe on black stand, then place on blue pad.",
+    "Lift the red block, hand it across away from the Earth map globe, then place it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the round globe with sturdy base, place on blue pad.",
+    "Take the red block from the table, pass it clear of the Earth map globe, and put it on blue pad."
+  ],
+  "unseen": [
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe."
+  ]
+}
\ No newline at end of file
diff --git a/handover_block_wp1/handover_block_wp1/instructions/episode66.json b/handover_block_wp1/handover_block_wp1/instructions/episode66.json
new file mode 100644
index 0000000000000000000000000000000000000000..04f03de9d1273ef5a9e40c4f8743cd8fdeffe858
--- /dev/null
+++ b/handover_block_wp1/handover_block_wp1/instructions/episode66.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Left arm take red block, keep the pass away from the Earth map globe, right arm puts on blue pad.",
+    "Pick the red block, keep the transfer away from the Earth map globe, and place it on blue pad.",
+    "Lift the red block, hand it across away from the round globe with sturdy base, then place it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the wooden globe with metal base, place blue pad.",
+    "Secure the red block, transfer it away from the round globe with sturdy base, and drop it onto the blue pad.",
+    "Take the red block from the table, pass it clear of the brown globe on black stand, and put it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the round globe with sturdy base, then place on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the round globe with sturdy base, then places on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe with smooth surface, set on blue pad.",
+    "Lift the red block, do a handover avoiding the globe with smooth surface, then place it onto the blue pad.",
+    "Grab red block, pass it along a path clear of the round globe with sturdy base, place onto blue pad.",
+    "Grab the red block, transfer it while steering clear of the Earth map globe, place on blue pad.",
+    "Use left arm to pick red block, avoid the beige and brown globe during handoff, right arm place blue pad.",
+    "Left arm grabs red block, right arm receives it away from the beige and brown globe, then sets it on blue pad.",
+    "Take the red block from the table, hand over away from the decor piece globe, drop on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the Earth map globe, and place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe for geographic reference, place on blue pad.",
+    "Left arm lifts red block, handover away from the decor piece globe, right arm sets it on blue pad.",
+    "Left arm grips red block, hands off away from the globe with curved black stand, right arm places on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the brown globe on black stand, then place on blue pad.",
+    "Left arm take red block, keep the pass away from the decor piece globe, right arm puts on blue pad.",
+    "Pick the red block, keep the transfer away from the Earth map globe, and place it on blue pad.",
+    "Lift the red block, hand it across away from the Earth map globe, then place it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the Earth map globe, place blue pad.",
+    "Secure the red block, transfer it away from the round Earth globe, and drop it onto the blue pad.",
+    "Take the red block from the table, pass it clear of the beige and brown globe, and put it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the Earth map globe, then place on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the round Earth globe, then places on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the brown globe on black stand, set on blue pad.",
+    "Lift the red block, do a handover avoiding the round Earth globe, then place it onto the blue pad.",
+    "Grab red block, pass it along a path clear of the globe for geographic reference, place onto blue pad.",
+    "Grab the red block, transfer it while steering clear of the globe with curved black stand, place on blue pad.",
+    "Use left arm to pick red block, avoid the Earth map globe during handoff, right arm place blue pad.",
+    "Left arm grabs red block, right arm receives it away from the brown globe on black stand, then sets it on blue pad.",
+    "Take the red block from the table, hand over away from the smooth beige globe with continents, drop on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe for geographic reference, and place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the spinning brown globe, place on blue pad.",
+    "Left arm lifts red block, handover away from the round Earth globe, right arm sets it on blue pad.",
+    "Left arm grips red block, hands off away from the decor piece globe, right arm places on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the beige and brown globe, then place on blue pad.",
+    "Left arm take red block, keep the pass away from the globe for geographic reference, right arm puts on blue pad.",
+    "Pick the red block, keep the transfer away from the globe with smooth surface, and place it on blue pad.",
+    "Lift the red block, hand it across away from the spinning brown globe, then place it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the decor piece globe, place blue pad.",
+    "Secure the red block, transfer it away from the wooden globe with metal base, and drop it onto the blue pad.",
+    "Take the red block from the table, pass it clear of the globe for geographic reference, and put it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the round globe with sturdy base, then place on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the smooth beige globe with continents, then places on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the Earth map globe, set on blue pad.",
+    "Lift the red block, do a handover avoiding the round globe with sturdy base, then place it onto the blue pad.",
+    "Grab red block, pass it along a path clear of the globe with smooth surface, place onto blue pad.",
+    "Grab the red block, transfer it while steering clear of the wooden globe with metal base, place on blue pad.",
+    "Use left arm to pick red block, avoid the globe with smooth surface during handoff, right arm place blue pad.",
+    "Left arm grabs red block, right arm receives it away from the beige and brown globe, then sets it on blue pad.",
+    "Take the red block from the table, hand over away from the globe with smooth surface, drop on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the smooth beige globe with continents, and place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the smooth beige globe with continents, place on blue pad.",
+    "Left arm lifts red block, handover away from the Earth map globe, right arm sets it on blue pad.",
+    "Left arm grips red block, hands off away from the globe with smooth surface, right arm places on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe for geographic reference, then place on blue pad.",
+    "Left arm take red block, keep the pass away from the globe with smooth surface, right arm puts on blue pad.",
+    "Pick the red block, keep the transfer away from the beige and brown globe, and place it on blue pad.",
+    "Lift the red block, hand it across away from the globe for geographic reference, then place it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the Earth map globe, place blue pad.",
+    "Secure the red block, transfer it away from the wooden globe with metal base, and drop it onto the blue pad.",
+    "Take the red block from the table, pass it clear of the Earth map globe, and put it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the Earth map globe, then place on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the round globe with sturdy base, then places on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the round Earth globe, set on blue pad.",
+    "Lift the red block, do a handover avoiding the brown globe on black stand, then place it onto the blue pad.",
+    "Grab red block, pass it along a path clear of the spinning brown globe, place onto blue pad.",
+    "Grab the red block, transfer it while steering clear of the Earth map globe, place on blue pad.",
+    "Use left arm to pick red block, avoid the round globe with sturdy base during handoff, right arm place blue pad.",
+    "Left arm grabs red block, right arm receives it away from the round Earth globe, then sets it on blue pad.",
+    "Take the red block from the table, hand over away from the spinning brown globe, drop on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe with smooth surface, and place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the brown globe on black stand, place on blue pad.",
+    "Left arm lifts red block, handover away from the round Earth globe, right arm sets it on blue pad.",
+    "Left arm grips red block, hands off away from the globe for geographic reference, right arm places on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the round globe with sturdy base, then place on blue pad.",
+    "Left arm take red block, keep the pass away from the spinning brown globe, right arm puts on blue pad.",
+    "Pick the red block, keep the transfer away from the Earth map globe, and place it on blue pad.",
+    "Lift the red block, hand it across away from the smooth beige globe with continents, then place it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the round globe with sturdy base, place blue pad.",
+    "Secure the red block, transfer it away from the smooth beige globe with continents, and drop it onto the blue pad.",
+    "Take the red block from the table, pass it clear of the spinning brown globe, and put it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the decor piece globe, then place on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the Earth map globe, then places on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the decor piece globe, set on blue pad.",
+    "Lift the red block, do a handover avoiding the globe for geographic reference, then place it onto the blue pad.",
+    "Grab red block, pass it along a path clear of the smooth beige globe with continents, place onto blue pad.",
+    "Grab the red block, transfer it while steering clear of the globe with smooth surface, place on blue pad.",
+    "Use left arm to pick red block, avoid the round Earth globe during handoff, right arm place blue pad.",
+    "Left arm grabs red block, right arm receives it away from the globe for geographic reference, then sets it on blue pad.",
+    "Take the red block from the table, hand over away from the round Earth globe, drop on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the smooth beige globe with continents, and place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the decor piece globe, place on blue pad.",
+    "Left arm lifts red block, handover away from the Earth map globe, right arm sets it on blue pad.",
+    "Left arm grips red block, hands off away from the globe for geographic reference, right arm places on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the wooden globe with metal base, then place on blue pad."
+  ],
+  "unseen": [
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe."
+  ]
+}
\ No newline at end of file
diff --git a/handover_block_wp1/handover_block_wp1/instructions/episode67.json b/handover_block_wp1/handover_block_wp1/instructions/episode67.json
new file mode 100644
index 0000000000000000000000000000000000000000..7ab21597da9cf49c1bb2e3fadad8331c00365d6d
--- /dev/null
+++ b/handover_block_wp1/handover_block_wp1/instructions/episode67.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the red block, keep the transfer away from the smooth beige globe with continents, and place it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the brown globe on black stand, place blue pad.",
+    "Lift the red block, do a handover avoiding the globe with smooth surface, then place it onto the blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe for geographic reference, set on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the beige and brown globe, then place on blue pad.",
+    "Use left arm to pick red block, avoid the globe with curved black stand during handoff, right arm place blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the brown globe on black stand, then place on blue pad.",
+    "Left arm grips red block, hands off away from the beige and brown globe, right arm places on blue pad.",
+    "Left arm lifts red block, handover away from the spinning brown globe, right arm sets it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the beige and brown globe, place on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the smooth beige globe with continents, then sets it on blue pad.",
+    "Lift the red block, hand it across away from the globe with smooth surface, then place it on blue pad.",
+    "Left arm take red block, keep the pass away from the beige and brown globe, right arm puts on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the wooden globe with metal base, then places on blue pad.",
+    "Secure the red block, transfer it away from the beige and brown globe, and drop it onto the blue pad.",
+    "Take the red block from the table, pass it clear of the Earth map globe, and put it on blue pad.",
+    "Take the red block from the table, hand over away from the wooden globe with metal base, drop on blue pad.",
+    "Grab red block, pass it along a path clear of the smooth beige globe with continents, place onto blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the decor piece globe, place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the round Earth globe, and place on blue pad.",
+    "Pick the red block, keep the transfer away from the round Earth globe, and place it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the decor piece globe, place blue pad.",
+    "Lift the red block, do a handover avoiding the beige and brown globe, then place it onto the blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the wooden globe with metal base, set on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the spinning brown globe, then place on blue pad.",
+    "Use left arm to pick red block, avoid the Earth map globe during handoff, right arm place blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the round globe with sturdy base, then place on blue pad.",
+    "Left arm grips red block, hands off away from the smooth beige globe with continents, right arm places on blue pad.",
+    "Left arm lifts red block, handover away from the decor piece globe, right arm sets it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the Earth map globe, place on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the spinning brown globe, then sets it on blue pad.",
+    "Lift the red block, hand it across away from the spinning brown globe, then place it on blue pad.",
+    "Left arm take red block, keep the pass away from the wooden globe with metal base, right arm puts on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe with smooth surface, then places on blue pad.",
+    "Secure the red block, transfer it away from the round Earth globe, and drop it onto the blue pad.",
+    "Take the red block from the table, pass it clear of the brown globe on black stand, and put it on blue pad.",
+    "Take the red block from the table, hand over away from the round Earth globe, drop on blue pad.",
+    "Grab red block, pass it along a path clear of the Earth map globe, place onto blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the smooth beige globe with continents, place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe with curved black stand, and place on blue pad.",
+    "Pick the red block, keep the transfer away from the round Earth globe, and place it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the spinning brown globe, place blue pad.",
+    "Lift the red block, do a handover avoiding the round Earth globe, then place it onto the blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the brown globe on black stand, set on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the beige and brown globe, then place on blue pad.",
+    "Use left arm to pick red block, avoid the beige and brown globe during handoff, right arm place blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the smooth beige globe with continents, then place on blue pad.",
+    "Left arm grips red block, hands off away from the beige and brown globe, right arm places on blue pad.",
+    "Left arm lifts red block, handover away from the round globe with sturdy base, right arm sets it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the spinning brown globe, place on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the spinning brown globe, then sets it on blue pad.",
+    "Lift the red block, hand it across away from the globe with smooth surface, then place it on blue pad.",
+    "Left arm take red block, keep the pass away from the brown globe on black stand, right arm puts on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe for geographic reference, then places on blue pad.",
+    "Secure the red block, transfer it away from the Earth map globe, and drop it onto the blue pad.",
+    "Take the red block from the table, pass it clear of the round Earth globe, and put it on blue pad.",
+    "Take the red block from the table, hand over away from the globe with curved black stand, drop on blue pad.",
+    "Grab red block, pass it along a path clear of the decor piece globe, place onto blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the smooth beige globe with continents, place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the smooth beige globe with continents, and place on blue pad.",
+    "Pick the red block, keep the transfer away from the wooden globe with metal base, and place it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the beige and brown globe, place blue pad.",
+    "Lift the red block, do a handover avoiding the spinning brown globe, then place it onto the blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the Earth map globe, set on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the globe with curved black stand, then place on blue pad.",
+    "Use left arm to pick red block, avoid the globe for geographic reference during handoff, right arm place blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the decor piece globe, then place on blue pad.",
+    "Left arm grips red block, hands off away from the round globe with sturdy base, right arm places on blue pad.",
+    "Left arm lifts red block, handover away from the spinning brown globe, right arm sets it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the globe for geographic reference, place on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the Earth map globe, then sets it on blue pad.",
+    "Lift the red block, hand it across away from the brown globe on black stand, then place it on blue pad.",
+    "Left arm take red block, keep the pass away from the decor piece globe, right arm puts on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the round globe with sturdy base, then places on blue pad.",
+    "Secure the red block, transfer it away from the spinning brown globe, and drop it onto the blue pad.",
+    "Take the red block from the table, pass it clear of the spinning brown globe, and put it on blue pad.",
+    "Take the red block from the table, hand over away from the spinning brown globe, drop on blue pad.",
+    "Grab red block, pass it along a path clear of the round globe with sturdy base, place onto blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe with curved black stand, place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the round Earth globe, and place on blue pad.",
+    "Pick the red block, keep the transfer away from the wooden globe with metal base, and place it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe with smooth surface, place blue pad.",
+    "Lift the red block, do a handover avoiding the smooth beige globe with continents, then place it onto the blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the decor piece globe, set on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the round globe with sturdy base, then place on blue pad.",
+    "Use left arm to pick red block, avoid the brown globe on black stand during handoff, right arm place blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the wooden globe with metal base, then place on blue pad.",
+    "Left arm grips red block, hands off away from the wooden globe with metal base, right arm places on blue pad.",
+    "Left arm lifts red block, handover away from the spinning brown globe, right arm sets it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the decor piece globe, place on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the Earth map globe, then sets it on blue pad.",
+    "Lift the red block, hand it across away from the beige and brown globe, then place it on blue pad.",
+    "Left arm take red block, keep the pass away from the wooden globe with metal base, right arm puts on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the spinning brown globe, then places on blue pad.",
+    "Secure the red block, transfer it away from the round globe with sturdy base, and drop it onto the blue pad.",
+    "Take the red block from the table, pass it clear of the round globe with sturdy base, and put it on blue pad.",
+    "Take the red block from the table, hand over away from the spinning brown globe, drop on blue pad.",
+    "Grab red block, pass it along a path clear of the round globe with sturdy base, place onto blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe for geographic reference, place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the spinning brown globe, and place on blue pad."
+  ],
+  "unseen": [
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad."
+  ]
+}
\ No newline at end of file
diff --git a/handover_block_wp1/handover_block_wp1/instructions/episode68.json b/handover_block_wp1/handover_block_wp1/instructions/episode68.json
new file mode 100644
index 0000000000000000000000000000000000000000..270049ff2e241dd7b3fc25c255ba64de691a2bed
--- /dev/null
+++ b/handover_block_wp1/handover_block_wp1/instructions/episode68.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the red block from the table, pass it clear of the Earth map globe, and put it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the wooden globe with metal base, set on blue pad.",
+    "Use left arm to pick red block, avoid the spinning brown globe during handoff, right arm place blue pad.",
+    "Left arm grabs red block, right arm receives it away from the round Earth globe, then sets it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the beige and brown globe, then place on blue pad.",
+    "Grab red block, pass it along a path clear of the globe for geographic reference, place onto blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the brown globe on black stand, place on blue pad.",
+    "Grab the red block, transfer it while steering clear of the wooden globe with metal base, place on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the brown globe on black stand, then places on blue pad.",
+    "Left arm take red block, keep the pass away from the decor piece globe, right arm puts on blue pad.",
+    "Left arm grips red block, hands off away from the beige and brown globe, right arm places on blue pad.",
+    "Secure the red block, transfer it away from the globe with curved black stand, and drop it onto the blue pad.",
+    "Lift the red block, hand it across away from the Earth map globe, then place it on blue pad.",
+    "Pick the red block, keep the transfer away from the globe with curved black stand, and place it on blue pad.",
+    "Left arm lifts red block, handover away from the Earth map globe, right arm sets it on blue pad.",
+    "Take the red block from the table, hand over away from the round globe with sturdy base, drop on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the spinning brown globe, and place on blue pad.",
+    "Lift the red block, do a handover avoiding the round globe with sturdy base, then place it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the beige and brown globe, then place on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the decor piece globe, place blue pad.",
+    "Take the red block from the table, pass it clear of the brown globe on black stand, and put it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the round Earth globe, set on blue pad.",
+    "Use left arm to pick red block, avoid the round Earth globe during handoff, right arm place blue pad.",
+    "Left arm grabs red block, right arm receives it away from the round Earth globe, then sets it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the round Earth globe, then place on blue pad.",
+    "Grab red block, pass it along a path clear of the round Earth globe, place onto blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the round Earth globe, place on blue pad.",
+    "Grab the red block, transfer it while steering clear of the smooth beige globe with continents, place on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the spinning brown globe, then places on blue pad.",
+    "Left arm take red block, keep the pass away from the spinning brown globe, right arm puts on blue pad.",
+    "Left arm grips red block, hands off away from the round globe with sturdy base, right arm places on blue pad.",
+    "Secure the red block, transfer it away from the globe with curved black stand, and drop it onto the blue pad.",
+    "Lift the red block, hand it across away from the globe for geographic reference, then place it on blue pad.",
+    "Pick the red block, keep the transfer away from the globe for geographic reference, and place it on blue pad.",
+    "Left arm lifts red block, handover away from the round globe with sturdy base, right arm sets it on blue pad.",
+    "Take the red block from the table, hand over away from the spinning brown globe, drop on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the wooden globe with metal base, and place on blue pad.",
+    "Lift the red block, do a handover avoiding the wooden globe with metal base, then place it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the brown globe on black stand, then place on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe with curved black stand, place blue pad.",
+    "Take the red block from the table, pass it clear of the smooth beige globe with continents, and put it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the round Earth globe, set on blue pad.",
+    "Use left arm to pick red block, avoid the globe for geographic reference during handoff, right arm place blue pad.",
+    "Left arm grabs red block, right arm receives it away from the beige and brown globe, then sets it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the globe for geographic reference, then place on blue pad.",
+    "Grab red block, pass it along a path clear of the round globe with sturdy base, place onto blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the Earth map globe, place on blue pad.",
+    "Grab the red block, transfer it while steering clear of the globe with smooth surface, place on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the spinning brown globe, then places on blue pad.",
+    "Left arm take red block, keep the pass away from the wooden globe with metal base, right arm puts on blue pad.",
+    "Left arm grips red block, hands off away from the Earth map globe, right arm places on blue pad.",
+    "Secure the red block, transfer it away from the wooden globe with metal base, and drop it onto the blue pad.",
+    "Lift the red block, hand it across away from the globe with smooth surface, then place it on blue pad.",
+    "Pick the red block, keep the transfer away from the brown globe on black stand, and place it on blue pad.",
+    "Left arm lifts red block, handover away from the decor piece globe, right arm sets it on blue pad.",
+    "Take the red block from the table, hand over away from the round Earth globe, drop on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe with curved black stand, and place on blue pad.",
+    "Lift the red block, do a handover avoiding the wooden globe with metal base, then place it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the smooth beige globe with continents, then place on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe with smooth surface, place blue pad.",
+    "Take the red block from the table, pass it clear of the round Earth globe, and put it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the smooth beige globe with continents, set on blue pad.",
+    "Use left arm to pick red block, avoid the beige and brown globe during handoff, right arm place blue pad.",
+    "Left arm grabs red block, right arm receives it away from the round Earth globe, then sets it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the smooth beige globe with continents, then place on blue pad.",
+    "Grab red block, pass it along a path clear of the wooden globe with metal base, place onto blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the Earth map globe, place on blue pad.",
+    "Grab the red block, transfer it while steering clear of the Earth map globe, place on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the round Earth globe, then places on blue pad.",
+    "Left arm take red block, keep the pass away from the smooth beige globe with continents, right arm puts on blue pad.",
+    "Left arm grips red block, hands off away from the globe with curved black stand, right arm places on blue pad.",
+    "Secure the red block, transfer it away from the decor piece globe, and drop it onto the blue pad.",
+    "Lift the red block, hand it across away from the smooth beige globe with continents, then place it on blue pad.",
+    "Pick the red block, keep the transfer away from the decor piece globe, and place it on blue pad.",
+    "Left arm lifts red block, handover away from the wooden globe with metal base, right arm sets it on blue pad.",
+    "Take the red block from the table, hand over away from the brown globe on black stand, drop on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the decor piece globe, and place on blue pad.",
+    "Lift the red block, do a handover avoiding the brown globe on black stand, then place it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the round Earth globe, then place on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the beige and brown globe, place blue pad.",
+    "Take the red block from the table, pass it clear of the brown globe on black stand, and put it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the Earth map globe, set on blue pad.",
+    "Use left arm to pick red block, avoid the wooden globe with metal base during handoff, right arm place blue pad.",
+    "Left arm grabs red block, right arm receives it away from the globe with smooth surface, then sets it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the brown globe on black stand, then place on blue pad.",
+    "Grab red block, pass it along a path clear of the globe for geographic reference, place onto blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe for geographic reference, place on blue pad.",
+    "Grab the red block, transfer it while steering clear of the brown globe on black stand, place on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the wooden globe with metal base, then places on blue pad.",
+    "Left arm take red block, keep the pass away from the brown globe on black stand, right arm puts on blue pad.",
+    "Left arm grips red block, hands off away from the Earth map globe, right arm places on blue pad.",
+    "Secure the red block, transfer it away from the wooden globe with metal base, and drop it onto the blue pad.",
+    "Lift the red block, hand it across away from the wooden globe with metal base, then place it on blue pad.",
+    "Pick the red block, keep the transfer away from the Earth map globe, and place it on blue pad.",
+    "Left arm lifts red block, handover away from the round globe with sturdy base, right arm sets it on blue pad.",
+    "Take the red block from the table, hand over away from the wooden globe with metal base, drop on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the Earth map globe, and place on blue pad.",
+    "Lift the red block, do a handover avoiding the globe with curved black stand, then place it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the Earth map globe, then place on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the round Earth globe, place blue pad."
+  ],
+  "unseen": [
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad."
+  ]
+}
\ No newline at end of file
diff --git a/handover_block_wp1/handover_block_wp1/instructions/episode69.json b/handover_block_wp1/handover_block_wp1/instructions/episode69.json
new file mode 100644
index 0000000000000000000000000000000000000000..93fdf81e41a58b13746a3112da0c96402546574a
--- /dev/null
+++ b/handover_block_wp1/handover_block_wp1/instructions/episode69.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With left arm, lift red block, hand to right arm avoiding the globe sitting on curved black base, then place on blue pad.",
+    "Lift the red block, do a handover avoiding the blue sphere with countries marked, then place it onto the blue pad.",
+    "Left arm grabs red block, right arm receives it away from the blue globe with colorful continents, then sets it on blue pad.",
+    "Left arm lifts red block, handover away from the globe with curved black base, right arm sets it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the blue globe, set on blue pad.",
+    "Use left arm to pick red block, avoid the small world globe during handoff, right arm place blue pad.",
+    "Take the red block from the table, hand over away from the blue sphere with countries marked, drop on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe featuring bright country colors, place on blue pad.",
+    "Left arm take red block, keep the pass away from the blue globe with colorful continents, right arm puts on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the earth-shaped globe with black frame, then places on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the small world globe, and place on blue pad.",
+    "Take the red block from the table, pass it clear of the globe sitting on curved black base, and put it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the globe with curved black base, place on blue pad.",
+    "Left arm grips red block, hands off away from the hand-sized globe on sturdy stand, right arm places on blue pad.",
+    "Pick the red block, keep the transfer away from the globe featuring bright country colors, and place it on blue pad.",
+    "Secure the red block, transfer it away from the blue globe, and drop it onto the blue pad.",
+    "Lift the red block, hand it across away from the earth-shaped globe with black frame, then place it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe with curved black base, place blue pad.",
+    "Grab red block, pass it along a path clear of the hand-sized globe on sturdy stand, place onto blue pad.",
+    "Pick the red block, hand it over while keeping clear of the globe with curved black base, then place on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the blue sphere with countries marked, then place on blue pad.",
+    "Lift the red block, do a handover avoiding the globe featuring bright country colors, then place it onto the blue pad.",
+    "Left arm grabs red block, right arm receives it away from the globe sitting on curved black base, then sets it on blue pad.",
+    "Left arm lifts red block, handover away from the globe sitting on curved black base, right arm sets it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe with curved black base, set on blue pad.",
+    "Use left arm to pick red block, avoid the earth-shaped globe with black frame during handoff, right arm place blue pad.",
+    "Take the red block from the table, hand over away from the earth-shaped globe with black frame, drop on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the small sphere showing earth map, place on blue pad.",
+    "Left arm take red block, keep the pass away from the colorful globe on black stand, right arm puts on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the small sphere showing earth map, then places on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the earth-shaped globe with black frame, and place on blue pad.",
+    "Take the red block from the table, pass it clear of the hand-sized globe on sturdy stand, and put it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the globe sitting on curved black base, place on blue pad.",
+    "Left arm grips red block, hands off away from the blue globe with colorful continents, right arm places on blue pad.",
+    "Pick the red block, keep the transfer away from the globe sitting on curved black base, and place it on blue pad.",
+    "Secure the red block, transfer it away from the blue sphere with countries marked, and drop it onto the blue pad.",
+    "Lift the red block, hand it across away from the blue globe with colorful continents, then place it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the earth-shaped globe with black frame, place blue pad.",
+    "Grab red block, pass it along a path clear of the globe with curved black base, place onto blue pad.",
+    "Pick the red block, hand it over while keeping clear of the globe featuring bright country colors, then place on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the small sphere showing earth map, then place on blue pad.",
+    "Lift the red block, do a handover avoiding the small world globe, then place it onto the blue pad.",
+    "Left arm grabs red block, right arm receives it away from the globe featuring bright country colors, then sets it on blue pad.",
+    "Left arm lifts red block, handover away from the blue sphere with countries marked, right arm sets it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the compact globe with labeled countries, set on blue pad.",
+    "Use left arm to pick red block, avoid the blue sphere with countries marked during handoff, right arm place blue pad.",
+    "Take the red block from the table, hand over away from the earth-shaped globe with black frame, drop on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the small sphere showing earth map, place on blue pad.",
+    "Left arm take red block, keep the pass away from the compact globe with labeled countries, right arm puts on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the blue sphere with countries marked, then places on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the blue globe, and place on blue pad.",
+    "Take the red block from the table, pass it clear of the blue globe with colorful continents, and put it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the compact globe with labeled countries, place on blue pad.",
+    "Left arm grips red block, hands off away from the hand-sized globe on sturdy stand, right arm places on blue pad.",
+    "Pick the red block, keep the transfer away from the compact globe with labeled countries, and place it on blue pad.",
+    "Secure the red block, transfer it away from the blue globe, and drop it onto the blue pad.",
+    "Lift the red block, hand it across away from the blue globe with colorful continents, then place it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the colorful globe on black stand, place blue pad.",
+    "Grab red block, pass it along a path clear of the blue globe, place onto blue pad.",
+    "Pick the red block, hand it over while keeping clear of the blue globe, then place on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the hand-sized globe on sturdy stand, then place on blue pad.",
+    "Lift the red block, do a handover avoiding the blue globe, then place it onto the blue pad.",
+    "Left arm grabs red block, right arm receives it away from the small world globe, then sets it on blue pad.",
+    "Left arm lifts red block, handover away from the small sphere showing earth map, right arm sets it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the compact globe with labeled countries, set on blue pad.",
+    "Use left arm to pick red block, avoid the blue sphere with countries marked during handoff, right arm place blue pad.",
+    "Take the red block from the table, hand over away from the compact globe with labeled countries, drop on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the small world globe, place on blue pad.",
+    "Left arm take red block, keep the pass away from the blue sphere with countries marked, right arm puts on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the blue globe, then places on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe featuring bright country colors, and place on blue pad.",
+    "Take the red block from the table, pass it clear of the colorful globe on black stand, and put it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the globe sitting on curved black base, place on blue pad.",
+    "Left arm grips red block, hands off away from the small sphere showing earth map, right arm places on blue pad.",
+    "Pick the red block, keep the transfer away from the colorful globe on black stand, and place it on blue pad.",
+    "Secure the red block, transfer it away from the colorful globe on black stand, and drop it onto the blue pad.",
+    "Lift the red block, hand it across away from the globe sitting on curved black base, then place it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe sitting on curved black base, place blue pad.",
+    "Grab red block, pass it along a path clear of the globe featuring bright country colors, place onto blue pad.",
+    "Pick the red block, hand it over while keeping clear of the globe sitting on curved black base, then place on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the hand-sized globe on sturdy stand, then place on blue pad.",
+    "Lift the red block, do a handover avoiding the small world globe, then place it onto the blue pad.",
+    "Left arm grabs red block, right arm receives it away from the small sphere showing earth map, then sets it on blue pad.",
+    "Left arm lifts red block, handover away from the globe with curved black base, right arm sets it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe featuring bright country colors, set on blue pad.",
+    "Use left arm to pick red block, avoid the hand-sized globe on sturdy stand during handoff, right arm place blue pad.",
+    "Take the red block from the table, hand over away from the earth-shaped globe with black frame, drop on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe sitting on curved black base, place on blue pad.",
+    "Left arm take red block, keep the pass away from the globe featuring bright country colors, right arm puts on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe with curved black base, then places on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the compact globe with labeled countries, and place on blue pad.",
+    "Take the red block from the table, pass it clear of the blue globe with colorful continents, and put it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the small world globe, place on blue pad.",
+    "Left arm grips red block, hands off away from the hand-sized globe on sturdy stand, right arm places on blue pad.",
+    "Pick the red block, keep the transfer away from the globe sitting on curved black base, and place it on blue pad.",
+    "Secure the red block, transfer it away from the small world globe, and drop it onto the blue pad.",
+    "Lift the red block, hand it across away from the blue globe with colorful continents, then place it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the earth-shaped globe with black frame, place blue pad.",
+    "Grab red block, pass it along a path clear of the compact globe with labeled countries, place onto blue pad.",
+    "Pick the red block, hand it over while keeping clear of the small sphere showing earth map, then place on blue pad."
+  ],
+  "unseen": [
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad."
+  ]
+}
\ No newline at end of file
diff --git a/handover_block_wp1/handover_block_wp1/instructions/episode7.json b/handover_block_wp1/handover_block_wp1/instructions/episode7.json
new file mode 100644
index 0000000000000000000000000000000000000000..8df811a1ae7a82d1b9109106498f72bbd8206cea
--- /dev/null
+++ b/handover_block_wp1/handover_block_wp1/instructions/episode7.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Left arm grips red block, hands off away from the globe for geographic reference, right arm places on blue pad.",
+    "Left arm lifts red block, handover away from the round globe with sturdy base, right arm sets it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the Earth map globe, then places on blue pad.",
+    "Use left arm to pick red block, avoid the smooth beige globe with continents during handoff, right arm place blue pad.",
+    "Pick the red block, keep the transfer away from the globe with curved black stand, and place it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the wooden globe with metal base, then sets it on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the smooth beige globe with continents, place on blue pad.",
+    "Lift the red block, hand it across away from the globe with smooth surface, then place it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the brown globe on black stand, then place on blue pad.",
+    "Secure the red block, transfer it away from the smooth beige globe with continents, and drop it onto the blue pad.",
+    "Grab the red block, transfer it while steering clear of the globe with smooth surface, place on blue pad.",
+    "Grab red block, pass it along a path clear of the spinning brown globe, place onto blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the smooth beige globe with continents, set on blue pad.",
+    "Take the red block from the table, hand over away from the globe for geographic reference, drop on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe with smooth surface, and place on blue pad.",
+    "Take the red block from the table, pass it clear of the smooth beige globe with continents, and put it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe with curved black stand, then place on blue pad.",
+    "Lift the red block, do a handover avoiding the round Earth globe, then place it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm away from the wooden globe with metal base, place blue pad.",
+    "Left arm take red block, keep the pass away from the decor piece globe, right arm puts on blue pad.",
+    "Left arm grips red block, hands off away from the wooden globe with metal base, right arm places on blue pad.",
+    "Left arm lifts red block, handover away from the globe for geographic reference, right arm sets it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe for geographic reference, then places on blue pad.",
+    "Use left arm to pick red block, avoid the globe with curved black stand during handoff, right arm place blue pad.",
+    "Pick the red block, keep the transfer away from the round globe with sturdy base, and place it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the globe with smooth surface, then sets it on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the wooden globe with metal base, place on blue pad.",
+    "Lift the red block, hand it across away from the globe with curved black stand, then place it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the wooden globe with metal base, then place on blue pad.",
+    "Secure the red block, transfer it away from the round globe with sturdy base, and drop it onto the blue pad.",
+    "Grab the red block, transfer it while steering clear of the beige and brown globe, place on blue pad.",
+    "Grab red block, pass it along a path clear of the decor piece globe, place onto blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the beige and brown globe, set on blue pad.",
+    "Take the red block from the table, hand over away from the globe with curved black stand, drop on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the brown globe on black stand, and place on blue pad.",
+    "Take the red block from the table, pass it clear of the smooth beige globe with continents, and put it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the smooth beige globe with continents, then place on blue pad.",
+    "Lift the red block, do a handover avoiding the round globe with sturdy base, then place it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm away from the brown globe on black stand, place blue pad.",
+    "Left arm take red block, keep the pass away from the round globe with sturdy base, right arm puts on blue pad.",
+    "Left arm grips red block, hands off away from the round Earth globe, right arm places on blue pad.",
+    "Left arm lifts red block, handover away from the globe with smooth surface, right arm sets it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the round globe with sturdy base, then places on blue pad.",
+    "Use left arm to pick red block, avoid the wooden globe with metal base during handoff, right arm place blue pad.",
+    "Pick the red block, keep the transfer away from the Earth map globe, and place it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the smooth beige globe with continents, then sets it on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the spinning brown globe, place on blue pad.",
+    "Lift the red block, hand it across away from the globe with smooth surface, then place it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the spinning brown globe, then place on blue pad.",
+    "Secure the red block, transfer it away from the Earth map globe, and drop it onto the blue pad.",
+    "Grab the red block, transfer it while steering clear of the beige and brown globe, place on blue pad.",
+    "Grab red block, pass it along a path clear of the beige and brown globe, place onto blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe for geographic reference, set on blue pad.",
+    "Take the red block from the table, hand over away from the decor piece globe, drop on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe for geographic reference, and place on blue pad.",
+    "Take the red block from the table, pass it clear of the round Earth globe, and put it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the Earth map globe, then place on blue pad.",
+    "Lift the red block, do a handover avoiding the globe with curved black stand, then place it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm away from the wooden globe with metal base, place blue pad.",
+    "Left arm take red block, keep the pass away from the Earth map globe, right arm puts on blue pad.",
+    "Left arm grips red block, hands off away from the round Earth globe, right arm places on blue pad.",
+    "Left arm lifts red block, handover away from the round globe with sturdy base, right arm sets it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the round Earth globe, then places on blue pad.",
+    "Use left arm to pick red block, avoid the spinning brown globe during handoff, right arm place blue pad.",
+    "Pick the red block, keep the transfer away from the spinning brown globe, and place it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the brown globe on black stand, then sets it on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the spinning brown globe, place on blue pad.",
+    "Lift the red block, hand it across away from the round globe with sturdy base, then place it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the decor piece globe, then place on blue pad.",
+    "Secure the red block, transfer it away from the round globe with sturdy base, and drop it onto the blue pad.",
+    "Grab the red block, transfer it while steering clear of the beige and brown globe, place on blue pad.",
+    "Grab red block, pass it along a path clear of the globe for geographic reference, place onto blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe with curved black stand, set on blue pad.",
+    "Take the red block from the table, hand over away from the round Earth globe, drop on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the round Earth globe, and place on blue pad.",
+    "Take the red block from the table, pass it clear of the Earth map globe, and put it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the decor piece globe, then place on blue pad.",
+    "Lift the red block, do a handover avoiding the decor piece globe, then place it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe with curved black stand, place blue pad.",
+    "Left arm take red block, keep the pass away from the brown globe on black stand, right arm puts on blue pad.",
+    "Left arm grips red block, hands off away from the wooden globe with metal base, right arm places on blue pad.",
+    "Left arm lifts red block, handover away from the Earth map globe, right arm sets it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the spinning brown globe, then places on blue pad.",
+    "Use left arm to pick red block, avoid the round Earth globe during handoff, right arm place blue pad.",
+    "Pick the red block, keep the transfer away from the round globe with sturdy base, and place it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the globe with smooth surface, then sets it on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the wooden globe with metal base, place on blue pad.",
+    "Lift the red block, hand it across away from the smooth beige globe with continents, then place it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the globe with smooth surface, then place on blue pad.",
+    "Secure the red block, transfer it away from the globe with smooth surface, and drop it onto the blue pad.",
+    "Grab the red block, transfer it while steering clear of the wooden globe with metal base, place on blue pad.",
+    "Grab red block, pass it along a path clear of the Earth map globe, place onto blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the brown globe on black stand, set on blue pad.",
+    "Take the red block from the table, hand over away from the smooth beige globe with continents, drop on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the beige and brown globe, and place on blue pad.",
+    "Take the red block from the table, pass it clear of the wooden globe with metal base, and put it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the decor piece globe, then place on blue pad.",
+    "Lift the red block, do a handover avoiding the round Earth globe, then place it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm away from the beige and brown globe, place blue pad.",
+    "Left arm take red block, keep the pass away from the beige and brown globe, right arm puts on blue pad."
+  ],
+  "unseen": [
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad."
+  ]
+}
\ No newline at end of file
diff --git a/handover_block_wp1/handover_block_wp1/instructions/episode70.json b/handover_block_wp1/handover_block_wp1/instructions/episode70.json
new file mode 100644
index 0000000000000000000000000000000000000000..9bec02b8a878883beec92ab774c262b626d7b4f8
--- /dev/null
+++ b/handover_block_wp1/handover_block_wp1/instructions/episode70.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Left arm grabs red block, right arm receives it away from the decor piece globe, then sets it on blue pad.",
+    "Use left arm to pick red block, avoid the Earth map globe during handoff, right arm place blue pad.",
+    "Lift the red block, hand it across away from the globe with smooth surface, then place it on blue pad.",
+    "Pick the red block, keep the transfer away from the globe with curved black stand, and place it on blue pad.",
+    "Take the red block from the table, hand over away from the globe with smooth surface, drop on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe with curved black stand, set on blue pad.",
+    "Left arm grips red block, hands off away from the round globe with sturdy base, right arm places on blue pad.",
+    "Grab the red block, transfer it while steering clear of the round Earth globe, place on blue pad.",
+    "Grab red block, pass it along a path clear of the spinning brown globe, place onto blue pad.",
+    "Pick the red block, hand it over while keeping clear of the round Earth globe, then place on blue pad.",
+    "Secure the red block, transfer it away from the round globe with sturdy base, and drop it onto the blue pad.",
+    "Left arm take red block, keep the pass away from the wooden globe with metal base, right arm puts on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe for geographic reference, then places on blue pad.",
+    "Left arm lifts red block, handover away from the smooth beige globe with continents, right arm sets it on blue pad.",
+    "Lift the red block, do a handover avoiding the globe with curved black stand, then place it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm away from the round Earth globe, place blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the round Earth globe, then place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe with curved black stand, place on blue pad.",
+    "Take the red block from the table, pass it clear of the beige and brown globe, and put it on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the decor piece globe, and place on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the beige and brown globe, then sets it on blue pad.",
+    "Use left arm to pick red block, avoid the wooden globe with metal base during handoff, right arm place blue pad.",
+    "Lift the red block, hand it across away from the brown globe on black stand, then place it on blue pad.",
+    "Pick the red block, keep the transfer away from the round Earth globe, and place it on blue pad.",
+    "Take the red block from the table, hand over away from the beige and brown globe, drop on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the wooden globe with metal base, set on blue pad.",
+    "Left arm grips red block, hands off away from the round globe with sturdy base, right arm places on blue pad.",
+    "Grab the red block, transfer it while steering clear of the spinning brown globe, place on blue pad.",
+    "Grab red block, pass it along a path clear of the decor piece globe, place onto blue pad.",
+    "Pick the red block, hand it over while keeping clear of the spinning brown globe, then place on blue pad.",
+    "Secure the red block, transfer it away from the round Earth globe, and drop it onto the blue pad.",
+    "Left arm take red block, keep the pass away from the decor piece globe, right arm puts on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe for geographic reference, then places on blue pad.",
+    "Left arm lifts red block, handover away from the wooden globe with metal base, right arm sets it on blue pad.",
+    "Lift the red block, do a handover avoiding the wooden globe with metal base, then place it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm away from the spinning brown globe, place blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the brown globe on black stand, then place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the brown globe on black stand, place on blue pad.",
+    "Take the red block from the table, pass it clear of the Earth map globe, and put it on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe for geographic reference, and place on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the wooden globe with metal base, then sets it on blue pad.",
+    "Use left arm to pick red block, avoid the Earth map globe during handoff, right arm place blue pad.",
+    "Lift the red block, hand it across away from the Earth map globe, then place it on blue pad.",
+    "Pick the red block, keep the transfer away from the round Earth globe, and place it on blue pad.",
+    "Take the red block from the table, hand over away from the Earth map globe, drop on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the wooden globe with metal base, set on blue pad.",
+    "Left arm grips red block, hands off away from the smooth beige globe with continents, right arm places on blue pad.",
+    "Grab the red block, transfer it while steering clear of the globe with curved black stand, place on blue pad.",
+    "Grab red block, pass it along a path clear of the globe with smooth surface, place onto blue pad.",
+    "Pick the red block, hand it over while keeping clear of the Earth map globe, then place on blue pad.",
+    "Secure the red block, transfer it away from the decor piece globe, and drop it onto the blue pad.",
+    "Left arm take red block, keep the pass away from the wooden globe with metal base, right arm puts on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the wooden globe with metal base, then places on blue pad.",
+    "Left arm lifts red block, handover away from the globe for geographic reference, right arm sets it on blue pad.",
+    "Lift the red block, do a handover avoiding the spinning brown globe, then place it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm away from the spinning brown globe, place blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe for geographic reference, then place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the brown globe on black stand, place on blue pad.",
+    "Take the red block from the table, pass it clear of the beige and brown globe, and put it on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the Earth map globe, and place on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the beige and brown globe, then sets it on blue pad.",
+    "Use left arm to pick red block, avoid the smooth beige globe with continents during handoff, right arm place blue pad.",
+    "Lift the red block, hand it across away from the brown globe on black stand, then place it on blue pad.",
+    "Pick the red block, keep the transfer away from the spinning brown globe, and place it on blue pad.",
+    "Take the red block from the table, hand over away from the round Earth globe, drop on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the beige and brown globe, set on blue pad.",
+    "Left arm grips red block, hands off away from the globe for geographic reference, right arm places on blue pad.",
+    "Grab the red block, transfer it while steering clear of the round globe with sturdy base, place on blue pad.",
+    "Grab red block, pass it along a path clear of the brown globe on black stand, place onto blue pad.",
+    "Pick the red block, hand it over while keeping clear of the round globe with sturdy base, then place on blue pad.",
+    "Secure the red block, transfer it away from the round globe with sturdy base, and drop it onto the blue pad.",
+    "Left arm take red block, keep the pass away from the globe for geographic reference, right arm puts on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe with smooth surface, then places on blue pad.",
+    "Left arm lifts red block, handover away from the globe with curved black stand, right arm sets it on blue pad.",
+    "Lift the red block, do a handover avoiding the globe with smooth surface, then place it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm away from the wooden globe with metal base, place blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the spinning brown globe, then place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the decor piece globe, place on blue pad.",
+    "Take the red block from the table, pass it clear of the brown globe on black stand, and put it on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the decor piece globe, and place on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the brown globe on black stand, then sets it on blue pad.",
+    "Use left arm to pick red block, avoid the beige and brown globe during handoff, right arm place blue pad.",
+    "Lift the red block, hand it across away from the beige and brown globe, then place it on blue pad.",
+    "Pick the red block, keep the transfer away from the spinning brown globe, and place it on blue pad.",
+    "Take the red block from the table, hand over away from the spinning brown globe, drop on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe with smooth surface, set on blue pad.",
+    "Left arm grips red block, hands off away from the decor piece globe, right arm places on blue pad.",
+    "Grab the red block, transfer it while steering clear of the wooden globe with metal base, place on blue pad.",
+    "Grab red block, pass it along a path clear of the round Earth globe, place onto blue pad.",
+    "Pick the red block, hand it over while keeping clear of the beige and brown globe, then place on blue pad.",
+    "Secure the red block, transfer it away from the wooden globe with metal base, and drop it onto the blue pad.",
+    "Left arm take red block, keep the pass away from the beige and brown globe, right arm puts on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the decor piece globe, then places on blue pad.",
+    "Left arm lifts red block, handover away from the wooden globe with metal base, right arm sets it on blue pad.",
+    "Lift the red block, do a handover avoiding the wooden globe with metal base, then place it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm away from the decor piece globe, place blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe with curved black stand, then place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe with curved black stand, place on blue pad.",
+    "Take the red block from the table, pass it clear of the globe with curved black stand, and put it on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the beige and brown globe, and place on blue pad."
+  ],
+  "unseen": [
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad."
+  ]
+}
\ No newline at end of file
diff --git a/handover_block_wp1/handover_block_wp1/instructions/episode71.json b/handover_block_wp1/handover_block_wp1/instructions/episode71.json
new file mode 100644
index 0000000000000000000000000000000000000000..54cfe1c83dc4fb7796055da94624c770c60d49de
--- /dev/null
+++ b/handover_block_wp1/handover_block_wp1/instructions/episode71.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With left arm, lift red block, hand to right arm avoiding the globe with smooth surface, then place on blue pad.",
+    "Take the red block from the table, pass it clear of the spinning brown globe, and put it on blue pad.",
+    "Left arm take red block, keep the pass away from the beige and brown globe, right arm puts on blue pad.",
+    "Pick the red block, keep the transfer away from the globe with curved black stand, and place it on blue pad.",
+    "Secure the red block, transfer it away from the smooth beige globe with continents, and drop it onto the blue pad.",
+    "Use left arm to pick red block, avoid the globe with smooth surface during handoff, right arm place blue pad.",
+    "Left arm lifts red block, handover away from the smooth beige globe with continents, right arm sets it on blue pad.",
+    "Lift the red block, do a handover avoiding the globe for geographic reference, then place it onto the blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the beige and brown globe, place on blue pad.",
+    "Lift the red block, hand it across away from the round Earth globe, then place it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the decor piece globe, place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the wooden globe with metal base, and place on blue pad.",
+    "Left arm grips red block, hands off away from the globe with smooth surface, right arm places on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the decor piece globe, place blue pad.",
+    "Grab red block, pass it along a path clear of the beige and brown globe, place onto blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the Earth map globe, then places on blue pad.",
+    "Take the red block from the table, hand over away from the beige and brown globe, drop on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the beige and brown globe, then place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the spinning brown globe, set on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the round Earth globe, then sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the wooden globe with metal base, then place on blue pad.",
+    "Take the red block from the table, pass it clear of the beige and brown globe, and put it on blue pad.",
+    "Left arm take red block, keep the pass away from the round Earth globe, right arm puts on blue pad.",
+    "Pick the red block, keep the transfer away from the globe with curved black stand, and place it on blue pad.",
+    "Secure the red block, transfer it away from the globe for geographic reference, and drop it onto the blue pad.",
+    "Use left arm to pick red block, avoid the smooth beige globe with continents during handoff, right arm place blue pad.",
+    "Left arm lifts red block, handover away from the spinning brown globe, right arm sets it on blue pad.",
+    "Lift the red block, do a handover avoiding the round globe with sturdy base, then place it onto the blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the spinning brown globe, place on blue pad.",
+    "Lift the red block, hand it across away from the beige and brown globe, then place it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the globe with curved black stand, place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the Earth map globe, and place on blue pad.",
+    "Left arm grips red block, hands off away from the wooden globe with metal base, right arm places on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe with smooth surface, place blue pad.",
+    "Grab red block, pass it along a path clear of the globe with curved black stand, place onto blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the round globe with sturdy base, then places on blue pad.",
+    "Take the red block from the table, hand over away from the round globe with sturdy base, drop on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the globe with smooth surface, then place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the spinning brown globe, set on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the beige and brown globe, then sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the Earth map globe, then place on blue pad.",
+    "Take the red block from the table, pass it clear of the globe with curved black stand, and put it on blue pad.",
+    "Left arm take red block, keep the pass away from the round globe with sturdy base, right arm puts on blue pad.",
+    "Pick the red block, keep the transfer away from the decor piece globe, and place it on blue pad.",
+    "Secure the red block, transfer it away from the round globe with sturdy base, and drop it onto the blue pad.",
+    "Use left arm to pick red block, avoid the brown globe on black stand during handoff, right arm place blue pad.",
+    "Left arm lifts red block, handover away from the beige and brown globe, right arm sets it on blue pad.",
+    "Lift the red block, do a handover avoiding the globe with curved black stand, then place it onto the blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the spinning brown globe, place on blue pad.",
+    "Lift the red block, hand it across away from the decor piece globe, then place it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the spinning brown globe, place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe with curved black stand, and place on blue pad.",
+    "Left arm grips red block, hands off away from the decor piece globe, right arm places on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the spinning brown globe, place blue pad.",
+    "Grab red block, pass it along a path clear of the beige and brown globe, place onto blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe with curved black stand, then places on blue pad.",
+    "Take the red block from the table, hand over away from the globe with smooth surface, drop on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the globe with curved black stand, then place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe for geographic reference, set on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the wooden globe with metal base, then sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the wooden globe with metal base, then place on blue pad.",
+    "Take the red block from the table, pass it clear of the Earth map globe, and put it on blue pad.",
+    "Left arm take red block, keep the pass away from the globe for geographic reference, right arm puts on blue pad.",
+    "Pick the red block, keep the transfer away from the decor piece globe, and place it on blue pad.",
+    "Secure the red block, transfer it away from the round globe with sturdy base, and drop it onto the blue pad.",
+    "Use left arm to pick red block, avoid the decor piece globe during handoff, right arm place blue pad.",
+    "Left arm lifts red block, handover away from the Earth map globe, right arm sets it on blue pad.",
+    "Lift the red block, do a handover avoiding the wooden globe with metal base, then place it onto the blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the spinning brown globe, place on blue pad.",
+    "Lift the red block, hand it across away from the smooth beige globe with continents, then place it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the round globe with sturdy base, place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the brown globe on black stand, and place on blue pad.",
+    "Left arm grips red block, hands off away from the smooth beige globe with continents, right arm places on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the round Earth globe, place blue pad.",
+    "Grab red block, pass it along a path clear of the globe with curved black stand, place onto blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the brown globe on black stand, then places on blue pad.",
+    "Take the red block from the table, hand over away from the globe for geographic reference, drop on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the brown globe on black stand, then place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe with curved black stand, set on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the globe with curved black stand, then sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the round Earth globe, then place on blue pad.",
+    "Take the red block from the table, pass it clear of the spinning brown globe, and put it on blue pad.",
+    "Left arm take red block, keep the pass away from the spinning brown globe, right arm puts on blue pad.",
+    "Pick the red block, keep the transfer away from the beige and brown globe, and place it on blue pad.",
+    "Secure the red block, transfer it away from the beige and brown globe, and drop it onto the blue pad.",
+    "Use left arm to pick red block, avoid the wooden globe with metal base during handoff, right arm place blue pad.",
+    "Left arm lifts red block, handover away from the globe with smooth surface, right arm sets it on blue pad.",
+    "Lift the red block, do a handover avoiding the spinning brown globe, then place it onto the blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the round Earth globe, place on blue pad.",
+    "Lift the red block, hand it across away from the round globe with sturdy base, then place it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the brown globe on black stand, place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the beige and brown globe, and place on blue pad.",
+    "Left arm grips red block, hands off away from the spinning brown globe, right arm places on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the beige and brown globe, place blue pad.",
+    "Grab red block, pass it along a path clear of the spinning brown globe, place onto blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the wooden globe with metal base, then places on blue pad.",
+    "Take the red block from the table, hand over away from the globe with smooth surface, drop on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the decor piece globe, then place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the decor piece globe, set on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the beige and brown globe, then sets it on blue pad."
+  ],
+  "unseen": [
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad."
+  ]
+}
\ No newline at end of file
diff --git a/handover_block_wp1/handover_block_wp1/instructions/episode72.json b/handover_block_wp1/handover_block_wp1/instructions/episode72.json
new file mode 100644
index 0000000000000000000000000000000000000000..a73baa54963a25e63614505701b61533bf992a30
--- /dev/null
+++ b/handover_block_wp1/handover_block_wp1/instructions/episode72.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the red block, transfer it while staying clear of the decor piece globe, and place on blue pad.",
+    "Take the red block from the table, pass it clear of the wooden globe with metal base, and put it on blue pad.",
+    "Lift the red block, hand it across away from the decor piece globe, then place it on blue pad.",
+    "Left arm grips red block, hands off away from the spinning brown globe, right arm places on blue pad.",
+    "Take the red block from the table, hand over away from the Earth map globe, drop on blue pad.",
+    "Secure the red block, transfer it away from the round Earth globe, and drop it onto the blue pad.",
+    "Pick the red block, keep the transfer away from the beige and brown globe, and place it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the globe for geographic reference, place on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe with curved black stand, then place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the beige and brown globe, place on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the globe with smooth surface, then sets it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the Earth map globe, then place on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the beige and brown globe, then places on blue pad.",
+    "Grab red block, pass it along a path clear of the smooth beige globe with continents, place onto blue pad.",
+    "Use left arm to pick red block, avoid the round Earth globe during handoff, right arm place blue pad.",
+    "Lift the red block, do a handover avoiding the smooth beige globe with continents, then place it onto the blue pad.",
+    "Left arm take red block, keep the pass away from the globe with smooth surface, right arm puts on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe with curved black stand, place blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the wooden globe with metal base, set on blue pad.",
+    "Left arm lifts red block, handover away from the Earth map globe, right arm sets it on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the round globe with sturdy base, and place on blue pad.",
+    "Take the red block from the table, pass it clear of the round globe with sturdy base, and put it on blue pad.",
+    "Lift the red block, hand it across away from the spinning brown globe, then place it on blue pad.",
+    "Left arm grips red block, hands off away from the round Earth globe, right arm places on blue pad.",
+    "Take the red block from the table, hand over away from the wooden globe with metal base, drop on blue pad.",
+    "Secure the red block, transfer it away from the round globe with sturdy base, and drop it onto the blue pad.",
+    "Pick the red block, keep the transfer away from the smooth beige globe with continents, and place it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the globe for geographic reference, place on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe with curved black stand, then place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe with curved black stand, place on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the wooden globe with metal base, then sets it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the decor piece globe, then place on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe with smooth surface, then places on blue pad.",
+    "Grab red block, pass it along a path clear of the round Earth globe, place onto blue pad.",
+    "Use left arm to pick red block, avoid the brown globe on black stand during handoff, right arm place blue pad.",
+    "Lift the red block, do a handover avoiding the globe for geographic reference, then place it onto the blue pad.",
+    "Left arm take red block, keep the pass away from the Earth map globe, right arm puts on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the decor piece globe, place blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the Earth map globe, set on blue pad.",
+    "Left arm lifts red block, handover away from the spinning brown globe, right arm sets it on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the round globe with sturdy base, and place on blue pad.",
+    "Take the red block from the table, pass it clear of the smooth beige globe with continents, and put it on blue pad.",
+    "Lift the red block, hand it across away from the brown globe on black stand, then place it on blue pad.",
+    "Left arm grips red block, hands off away from the globe with curved black stand, right arm places on blue pad.",
+    "Take the red block from the table, hand over away from the round Earth globe, drop on blue pad.",
+    "Secure the red block, transfer it away from the brown globe on black stand, and drop it onto the blue pad.",
+    "Pick the red block, keep the transfer away from the wooden globe with metal base, and place it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the round Earth globe, place on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the round globe with sturdy base, then place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe for geographic reference, place on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the beige and brown globe, then sets it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the beige and brown globe, then place on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the decor piece globe, then places on blue pad.",
+    "Grab red block, pass it along a path clear of the round globe with sturdy base, place onto blue pad.",
+    "Use left arm to pick red block, avoid the round globe with sturdy base during handoff, right arm place blue pad.",
+    "Lift the red block, do a handover avoiding the spinning brown globe, then place it onto the blue pad.",
+    "Left arm take red block, keep the pass away from the wooden globe with metal base, right arm puts on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the Earth map globe, place blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the round Earth globe, set on blue pad.",
+    "Left arm lifts red block, handover away from the spinning brown globe, right arm sets it on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the wooden globe with metal base, and place on blue pad.",
+    "Take the red block from the table, pass it clear of the spinning brown globe, and put it on blue pad.",
+    "Lift the red block, hand it across away from the decor piece globe, then place it on blue pad.",
+    "Left arm grips red block, hands off away from the brown globe on black stand, right arm places on blue pad.",
+    "Take the red block from the table, hand over away from the wooden globe with metal base, drop on blue pad.",
+    "Secure the red block, transfer it away from the round globe with sturdy base, and drop it onto the blue pad.",
+    "Pick the red block, keep the transfer away from the spinning brown globe, and place it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the beige and brown globe, place on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe with curved black stand, then place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the wooden globe with metal base, place on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the wooden globe with metal base, then sets it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the smooth beige globe with continents, then place on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the smooth beige globe with continents, then places on blue pad.",
+    "Grab red block, pass it along a path clear of the wooden globe with metal base, place onto blue pad.",
+    "Use left arm to pick red block, avoid the round Earth globe during handoff, right arm place blue pad.",
+    "Lift the red block, do a handover avoiding the decor piece globe, then place it onto the blue pad.",
+    "Left arm take red block, keep the pass away from the globe with smooth surface, right arm puts on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the brown globe on black stand, place blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe with curved black stand, set on blue pad.",
+    "Left arm lifts red block, handover away from the wooden globe with metal base, right arm sets it on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the wooden globe with metal base, and place on blue pad.",
+    "Take the red block from the table, pass it clear of the spinning brown globe, and put it on blue pad.",
+    "Lift the red block, hand it across away from the round globe with sturdy base, then place it on blue pad.",
+    "Left arm grips red block, hands off away from the globe with smooth surface, right arm places on blue pad.",
+    "Take the red block from the table, hand over away from the spinning brown globe, drop on blue pad.",
+    "Secure the red block, transfer it away from the decor piece globe, and drop it onto the blue pad.",
+    "Pick the red block, keep the transfer away from the globe with smooth surface, and place it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the round globe with sturdy base, place on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the smooth beige globe with continents, then place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the smooth beige globe with continents, place on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the brown globe on black stand, then sets it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the decor piece globe, then place on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the Earth map globe, then places on blue pad.",
+    "Grab red block, pass it along a path clear of the Earth map globe, place onto blue pad.",
+    "Use left arm to pick red block, avoid the brown globe on black stand during handoff, right arm place blue pad.",
+    "Lift the red block, do a handover avoiding the spinning brown globe, then place it onto the blue pad.",
+    "Left arm take red block, keep the pass away from the round globe with sturdy base, right arm puts on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the round globe with sturdy base, place blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe with smooth surface, set on blue pad.",
+    "Left arm lifts red block, handover away from the globe for geographic reference, right arm sets it on blue pad."
+  ],
+  "unseen": [
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad."
+  ]
+}
\ No newline at end of file
diff --git a/handover_block_wp1/handover_block_wp1/instructions/episode73.json b/handover_block_wp1/handover_block_wp1/instructions/episode73.json
new file mode 100644
index 0000000000000000000000000000000000000000..790bf7e86165741768e1534689c4e93faea86766
--- /dev/null
+++ b/handover_block_wp1/handover_block_wp1/instructions/episode73.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the red block, keep the transfer away from the colorful globe on black stand, and place it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the earth-shaped globe with black frame, then place on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe featuring bright country colors, place blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the small world globe, place on blue pad.",
+    "Take the red block from the table, pass it clear of the compact globe with labeled countries, and put it on blue pad.",
+    "Left arm lifts red block, handover away from the globe with curved black base, right arm sets it on blue pad.",
+    "Lift the red block, hand it across away from the globe sitting on curved black base, then place it on blue pad.",
+    "Left arm take red block, keep the pass away from the small world globe, right arm puts on blue pad.",
+    "Use left arm to pick red block, avoid the colorful globe on black stand during handoff, right arm place blue pad.",
+    "Grab red block, pass it along a path clear of the globe sitting on curved black base, place onto blue pad.",
+    "Lift the red block, do a handover avoiding the globe featuring bright country colors, then place it onto the blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the earth-shaped globe with black frame, then places on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe sitting on curved black base, set on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the hand-sized globe on sturdy stand, then place on blue pad.",
+    "Grab the red block, transfer it while steering clear of the colorful globe on black stand, place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the earth-shaped globe with black frame, and place on blue pad.",
+    "Left arm grips red block, hands off away from the small world globe, right arm places on blue pad.",
+    "Secure the red block, transfer it away from the earth-shaped globe with black frame, and drop it onto the blue pad.",
+    "Take the red block from the table, hand over away from the earth-shaped globe with black frame, drop on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the compact globe with labeled countries, then sets it on blue pad.",
+    "Pick the red block, keep the transfer away from the compact globe with labeled countries, and place it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the blue globe, then place on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe sitting on curved black base, place blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the small sphere showing earth map, place on blue pad.",
+    "Take the red block from the table, pass it clear of the earth-shaped globe with black frame, and put it on blue pad.",
+    "Left arm lifts red block, handover away from the globe with curved black base, right arm sets it on blue pad.",
+    "Lift the red block, hand it across away from the earth-shaped globe with black frame, then place it on blue pad.",
+    "Left arm take red block, keep the pass away from the blue sphere with countries marked, right arm puts on blue pad.",
+    "Use left arm to pick red block, avoid the small sphere showing earth map during handoff, right arm place blue pad.",
+    "Grab red block, pass it along a path clear of the blue sphere with countries marked, place onto blue pad.",
+    "Lift the red block, do a handover avoiding the hand-sized globe on sturdy stand, then place it onto the blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the earth-shaped globe with black frame, then places on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the small sphere showing earth map, set on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the small sphere showing earth map, then place on blue pad.",
+    "Grab the red block, transfer it while steering clear of the small sphere showing earth map, place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe sitting on curved black base, and place on blue pad.",
+    "Left arm grips red block, hands off away from the blue globe, right arm places on blue pad.",
+    "Secure the red block, transfer it away from the blue sphere with countries marked, and drop it onto the blue pad.",
+    "Take the red block from the table, hand over away from the small world globe, drop on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the small world globe, then sets it on blue pad.",
+    "Pick the red block, keep the transfer away from the colorful globe on black stand, and place it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the blue globe, then place on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the small world globe, place blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe sitting on curved black base, place on blue pad.",
+    "Take the red block from the table, pass it clear of the globe with curved black base, and put it on blue pad.",
+    "Left arm lifts red block, handover away from the blue globe, right arm sets it on blue pad.",
+    "Lift the red block, hand it across away from the hand-sized globe on sturdy stand, then place it on blue pad.",
+    "Left arm take red block, keep the pass away from the colorful globe on black stand, right arm puts on blue pad.",
+    "Use left arm to pick red block, avoid the hand-sized globe on sturdy stand during handoff, right arm place blue pad.",
+    "Grab red block, pass it along a path clear of the globe featuring bright country colors, place onto blue pad.",
+    "Lift the red block, do a handover avoiding the globe sitting on curved black base, then place it onto the blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the blue globe with colorful continents, then places on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the earth-shaped globe with black frame, set on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the small sphere showing earth map, then place on blue pad.",
+    "Grab the red block, transfer it while steering clear of the small world globe, place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the small world globe, and place on blue pad.",
+    "Left arm grips red block, hands off away from the blue sphere with countries marked, right arm places on blue pad.",
+    "Secure the red block, transfer it away from the colorful globe on black stand, and drop it onto the blue pad.",
+    "Take the red block from the table, hand over away from the globe with curved black base, drop on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the globe sitting on curved black base, then sets it on blue pad.",
+    "Pick the red block, keep the transfer away from the hand-sized globe on sturdy stand, and place it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the colorful globe on black stand, then place on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the blue globe with colorful continents, place blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the colorful globe on black stand, place on blue pad.",
+    "Take the red block from the table, pass it clear of the globe sitting on curved black base, and put it on blue pad.",
+    "Left arm lifts red block, handover away from the earth-shaped globe with black frame, right arm sets it on blue pad.",
+    "Lift the red block, hand it across away from the blue globe with colorful continents, then place it on blue pad.",
+    "Left arm take red block, keep the pass away from the globe with curved black base, right arm puts on blue pad.",
+    "Use left arm to pick red block, avoid the globe with curved black base during handoff, right arm place blue pad.",
+    "Grab red block, pass it along a path clear of the hand-sized globe on sturdy stand, place onto blue pad.",
+    "Lift the red block, do a handover avoiding the globe sitting on curved black base, then place it onto the blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the compact globe with labeled countries, then places on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe sitting on curved black base, set on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe with curved black base, then place on blue pad.",
+    "Grab the red block, transfer it while steering clear of the small world globe, place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the blue sphere with countries marked, and place on blue pad.",
+    "Left arm grips red block, hands off away from the blue globe, right arm places on blue pad.",
+    "Secure the red block, transfer it away from the blue sphere with countries marked, and drop it onto the blue pad.",
+    "Take the red block from the table, hand over away from the earth-shaped globe with black frame, drop on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the colorful globe on black stand, then sets it on blue pad.",
+    "Pick the red block, keep the transfer away from the blue globe, and place it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the colorful globe on black stand, then place on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the compact globe with labeled countries, place blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the blue globe with colorful continents, place on blue pad.",
+    "Take the red block from the table, pass it clear of the earth-shaped globe with black frame, and put it on blue pad.",
+    "Left arm lifts red block, handover away from the small sphere showing earth map, right arm sets it on blue pad.",
+    "Lift the red block, hand it across away from the blue globe with colorful continents, then place it on blue pad.",
+    "Left arm take red block, keep the pass away from the globe with curved black base, right arm puts on blue pad.",
+    "Use left arm to pick red block, avoid the compact globe with labeled countries during handoff, right arm place blue pad.",
+    "Grab red block, pass it along a path clear of the blue sphere with countries marked, place onto blue pad.",
+    "Lift the red block, do a handover avoiding the small sphere showing earth map, then place it onto the blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the small sphere showing earth map, then places on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the hand-sized globe on sturdy stand, set on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the small sphere showing earth map, then place on blue pad.",
+    "Grab the red block, transfer it while steering clear of the hand-sized globe on sturdy stand, place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe sitting on curved black base, and place on blue pad.",
+    "Left arm grips red block, hands off away from the globe sitting on curved black base, right arm places on blue pad.",
+    "Secure the red block, transfer it away from the small sphere showing earth map, and drop it onto the blue pad.",
+    "Take the red block from the table, hand over away from the globe with curved black base, drop on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the globe featuring bright country colors, then sets it on blue pad."
+  ],
+  "unseen": [
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad."
+  ]
+}
\ No newline at end of file
diff --git a/handover_block_wp1/handover_block_wp1/instructions/episode74.json b/handover_block_wp1/handover_block_wp1/instructions/episode74.json
new file mode 100644
index 0000000000000000000000000000000000000000..e400c17285ae92bc577fae9369aba38954254131
--- /dev/null
+++ b/handover_block_wp1/handover_block_wp1/instructions/episode74.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Left arm grips red block, hands off away from the compact globe with labeled countries, right arm places on blue pad.",
+    "Grab the red block, transfer it while steering clear of the colorful globe on black stand, place on blue pad.",
+    "Grab red block, pass it along a path clear of the globe with curved black base, place onto blue pad.",
+    "Take the red block from the table, hand over away from the small world globe, drop on blue pad.",
+    "Secure the red block, transfer it away from the colorful globe on black stand, and drop it onto the blue pad.",
+    "Left arm take red block, keep the pass away from the small sphere showing earth map, right arm puts on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe with curved black base, place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the blue sphere with countries marked, set on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the hand-sized globe on sturdy stand, then sets it on blue pad.",
+    "Lift the red block, do a handover avoiding the blue globe with colorful continents, then place it onto the blue pad.",
+    "Take the red block from the table, pass it clear of the small sphere showing earth map, and put it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe featuring bright country colors, place blue pad.",
+    "Left arm lifts red block, handover away from the globe sitting on curved black base, right arm sets it on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the blue globe with colorful continents, and place on blue pad.",
+    "Lift the red block, hand it across away from the hand-sized globe on sturdy stand, then place it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the colorful globe on black stand, then place on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe featuring bright country colors, then place on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the hand-sized globe on sturdy stand, then places on blue pad.",
+    "Pick the red block, keep the transfer away from the earth-shaped globe with black frame, and place it on blue pad.",
+    "Use left arm to pick red block, avoid the colorful globe on black stand during handoff, right arm place blue pad.",
+    "Left arm grips red block, hands off away from the colorful globe on black stand, right arm places on blue pad.",
+    "Grab the red block, transfer it while steering clear of the globe with curved black base, place on blue pad.",
+    "Grab red block, pass it along a path clear of the globe with curved black base, place onto blue pad.",
+    "Take the red block from the table, hand over away from the globe sitting on curved black base, drop on blue pad.",
+    "Secure the red block, transfer it away from the small world globe, and drop it onto the blue pad.",
+    "Left arm take red block, keep the pass away from the globe featuring bright country colors, right arm puts on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the blue sphere with countries marked, place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the colorful globe on black stand, set on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the small world globe, then sets it on blue pad.",
+    "Lift the red block, do a handover avoiding the small sphere showing earth map, then place it onto the blue pad.",
+    "Take the red block from the table, pass it clear of the globe with curved black base, and put it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the small sphere showing earth map, place blue pad.",
+    "Left arm lifts red block, handover away from the globe sitting on curved black base, right arm sets it on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the colorful globe on black stand, and place on blue pad.",
+    "Lift the red block, hand it across away from the blue globe, then place it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the blue sphere with countries marked, then place on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the earth-shaped globe with black frame, then place on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the earth-shaped globe with black frame, then places on blue pad.",
+    "Pick the red block, keep the transfer away from the globe sitting on curved black base, and place it on blue pad.",
+    "Use left arm to pick red block, avoid the blue sphere with countries marked during handoff, right arm place blue pad.",
+    "Left arm grips red block, hands off away from the blue sphere with countries marked, right arm places on blue pad.",
+    "Grab the red block, transfer it while steering clear of the globe sitting on curved black base, place on blue pad.",
+    "Grab red block, pass it along a path clear of the earth-shaped globe with black frame, place onto blue pad.",
+    "Take the red block from the table, hand over away from the hand-sized globe on sturdy stand, drop on blue pad.",
+    "Secure the red block, transfer it away from the blue globe with colorful continents, and drop it onto the blue pad.",
+    "Left arm take red block, keep the pass away from the blue sphere with countries marked, right arm puts on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the colorful globe on black stand, place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the colorful globe on black stand, set on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the blue globe with colorful continents, then sets it on blue pad.",
+    "Lift the red block, do a handover avoiding the blue globe with colorful continents, then place it onto the blue pad.",
+    "Take the red block from the table, pass it clear of the hand-sized globe on sturdy stand, and put it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the blue globe with colorful continents, place blue pad.",
+    "Left arm lifts red block, handover away from the globe sitting on curved black base, right arm sets it on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the hand-sized globe on sturdy stand, and place on blue pad.",
+    "Lift the red block, hand it across away from the blue sphere with countries marked, then place it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the blue globe with colorful continents, then place on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe sitting on curved black base, then place on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the blue globe, then places on blue pad.",
+    "Pick the red block, keep the transfer away from the blue sphere with countries marked, and place it on blue pad.",
+    "Use left arm to pick red block, avoid the blue globe during handoff, right arm place blue pad.",
+    "Left arm grips red block, hands off away from the globe with curved black base, right arm places on blue pad.",
+    "Grab the red block, transfer it while steering clear of the globe with curved black base, place on blue pad.",
+    "Grab red block, pass it along a path clear of the globe sitting on curved black base, place onto blue pad.",
+    "Take the red block from the table, hand over away from the globe sitting on curved black base, drop on blue pad.",
+    "Secure the red block, transfer it away from the small world globe, and drop it onto the blue pad.",
+    "Left arm take red block, keep the pass away from the compact globe with labeled countries, right arm puts on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the earth-shaped globe with black frame, place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the colorful globe on black stand, set on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the globe with curved black base, then sets it on blue pad.",
+    "Lift the red block, do a handover avoiding the small world globe, then place it onto the blue pad.",
+    "Take the red block from the table, pass it clear of the hand-sized globe on sturdy stand, and put it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the compact globe with labeled countries, place blue pad.",
+    "Left arm lifts red block, handover away from the earth-shaped globe with black frame, right arm sets it on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the blue globe with colorful continents, and place on blue pad.",
+    "Lift the red block, hand it across away from the blue globe with colorful continents, then place it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the blue sphere with countries marked, then place on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the colorful globe on black stand, then place on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the compact globe with labeled countries, then places on blue pad.",
+    "Pick the red block, keep the transfer away from the globe featuring bright country colors, and place it on blue pad.",
+    "Use left arm to pick red block, avoid the small world globe during handoff, right arm place blue pad.",
+    "Left arm grips red block, hands off away from the hand-sized globe on sturdy stand, right arm places on blue pad.",
+    "Grab the red block, transfer it while steering clear of the small sphere showing earth map, place on blue pad.",
+    "Grab red block, pass it along a path clear of the small world globe, place onto blue pad.",
+    "Take the red block from the table, hand over away from the blue globe with colorful continents, drop on blue pad.",
+    "Secure the red block, transfer it away from the compact globe with labeled countries, and drop it onto the blue pad.",
+    "Left arm take red block, keep the pass away from the blue sphere with countries marked, right arm puts on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe featuring bright country colors, place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe with curved black base, set on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the small world globe, then sets it on blue pad.",
+    "Lift the red block, do a handover avoiding the globe sitting on curved black base, then place it onto the blue pad.",
+    "Take the red block from the table, pass it clear of the small world globe, and put it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe with curved black base, place blue pad.",
+    "Left arm lifts red block, handover away from the compact globe with labeled countries, right arm sets it on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe with curved black base, and place on blue pad.",
+    "Lift the red block, hand it across away from the small world globe, then place it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the hand-sized globe on sturdy stand, then place on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the small sphere showing earth map, then place on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the small world globe, then places on blue pad.",
+    "Pick the red block, keep the transfer away from the compact globe with labeled countries, and place it on blue pad.",
+    "Use left arm to pick red block, avoid the blue globe during handoff, right arm place blue pad."
+  ],
+  "unseen": [
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder."
+  ]
+}
\ No newline at end of file
diff --git a/handover_block_wp1/handover_block_wp1/instructions/episode75.json b/handover_block_wp1/handover_block_wp1/instructions/episode75.json
new file mode 100644
index 0000000000000000000000000000000000000000..3764b04573142eb5022855ec208ef524a5fff6a8
--- /dev/null
+++ b/handover_block_wp1/handover_block_wp1/instructions/episode75.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the red block, hand it across away from the blue globe with colorful continents, then place it on blue pad.",
+    "Use left arm to pick red block, avoid the small world globe during handoff, right arm place blue pad.",
+    "Left arm lifts red block, handover away from the small sphere showing earth map, right arm sets it on blue pad.",
+    "Grab red block, pass it along a path clear of the earth-shaped globe with black frame, place onto blue pad.",
+    "Grab the red block, transfer it while steering clear of the blue sphere with countries marked, place on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the blue sphere with countries marked, then place on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the earth-shaped globe with black frame, place blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe featuring bright country colors, set on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe with curved black base, and place on blue pad.",
+    "Lift the red block, do a handover avoiding the blue sphere with countries marked, then place it onto the blue pad.",
+    "Pick the red block, hand it over while keeping clear of the blue globe with colorful continents, then place on blue pad.",
+    "Secure the red block, transfer it away from the blue globe, and drop it onto the blue pad.",
+    "Left arm grips red block, hands off away from the blue sphere with countries marked, right arm places on blue pad.",
+    "Pick the red block, keep the transfer away from the small world globe, and place it on blue pad.",
+    "Take the red block from the table, hand over away from the blue sphere with countries marked, drop on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the colorful globe on black stand, then places on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the colorful globe on black stand, then sets it on blue pad.",
+    "Take the red block from the table, pass it clear of the compact globe with labeled countries, and put it on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the colorful globe on black stand, place on blue pad.",
+    "Left arm take red block, keep the pass away from the earth-shaped globe with black frame, right arm puts on blue pad.",
+    "Lift the red block, hand it across away from the small sphere showing earth map, then place it on blue pad.",
+    "Use left arm to pick red block, avoid the small world globe during handoff, right arm place blue pad.",
+    "Left arm lifts red block, handover away from the blue globe, right arm sets it on blue pad.",
+    "Grab red block, pass it along a path clear of the blue globe with colorful continents, place onto blue pad.",
+    "Grab the red block, transfer it while steering clear of the blue globe with colorful continents, place on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the compact globe with labeled countries, then place on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the colorful globe on black stand, place blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the small world globe, set on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the blue sphere with countries marked, and place on blue pad.",
+    "Lift the red block, do a handover avoiding the globe with curved black base, then place it onto the blue pad.",
+    "Pick the red block, hand it over while keeping clear of the hand-sized globe on sturdy stand, then place on blue pad.",
+    "Secure the red block, transfer it away from the globe with curved black base, and drop it onto the blue pad.",
+    "Left arm grips red block, hands off away from the hand-sized globe on sturdy stand, right arm places on blue pad.",
+    "Pick the red block, keep the transfer away from the small world globe, and place it on blue pad.",
+    "Take the red block from the table, hand over away from the globe featuring bright country colors, drop on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the blue globe, then places on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the blue sphere with countries marked, then sets it on blue pad.",
+    "Take the red block from the table, pass it clear of the small world globe, and put it on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the earth-shaped globe with black frame, place on blue pad.",
+    "Left arm take red block, keep the pass away from the globe sitting on curved black base, right arm puts on blue pad.",
+    "Lift the red block, hand it across away from the blue globe with colorful continents, then place it on blue pad.",
+    "Use left arm to pick red block, avoid the colorful globe on black stand during handoff, right arm place blue pad.",
+    "Left arm lifts red block, handover away from the colorful globe on black stand, right arm sets it on blue pad.",
+    "Grab red block, pass it along a path clear of the compact globe with labeled countries, place onto blue pad.",
+    "Grab the red block, transfer it while steering clear of the small world globe, place on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the blue globe, then place on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe with curved black base, place blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe with curved black base, set on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the colorful globe on black stand, and place on blue pad.",
+    "Lift the red block, do a handover avoiding the globe featuring bright country colors, then place it onto the blue pad.",
+    "Pick the red block, hand it over while keeping clear of the colorful globe on black stand, then place on blue pad.",
+    "Secure the red block, transfer it away from the hand-sized globe on sturdy stand, and drop it onto the blue pad.",
+    "Left arm grips red block, hands off away from the blue sphere with countries marked, right arm places on blue pad.",
+    "Pick the red block, keep the transfer away from the blue globe with colorful continents, and place it on blue pad.",
+    "Take the red block from the table, hand over away from the blue globe, drop on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the hand-sized globe on sturdy stand, then places on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the blue globe with colorful continents, then sets it on blue pad.",
+    "Take the red block from the table, pass it clear of the globe featuring bright country colors, and put it on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe with curved black base, place on blue pad.",
+    "Left arm take red block, keep the pass away from the blue sphere with countries marked, right arm puts on blue pad.",
+    "Lift the red block, hand it across away from the earth-shaped globe with black frame, then place it on blue pad.",
+    "Use left arm to pick red block, avoid the hand-sized globe on sturdy stand during handoff, right arm place blue pad.",
+    "Left arm lifts red block, handover away from the blue globe, right arm sets it on blue pad.",
+    "Grab red block, pass it along a path clear of the globe sitting on curved black base, place onto blue pad.",
+    "Grab the red block, transfer it while steering clear of the small world globe, place on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the compact globe with labeled countries, then place on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the colorful globe on black stand, place blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the colorful globe on black stand, set on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the small sphere showing earth map, and place on blue pad.",
+    "Lift the red block, do a handover avoiding the blue globe, then place it onto the blue pad.",
+    "Pick the red block, hand it over while keeping clear of the blue globe, then place on blue pad.",
+    "Secure the red block, transfer it away from the blue globe with colorful continents, and drop it onto the blue pad.",
+    "Left arm grips red block, hands off away from the globe with curved black base, right arm places on blue pad.",
+    "Pick the red block, keep the transfer away from the colorful globe on black stand, and place it on blue pad.",
+    "Take the red block from the table, hand over away from the colorful globe on black stand, drop on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe with curved black base, then places on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the globe sitting on curved black base, then sets it on blue pad.",
+    "Take the red block from the table, pass it clear of the blue globe with colorful continents, and put it on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the compact globe with labeled countries, place on blue pad.",
+    "Left arm take red block, keep the pass away from the compact globe with labeled countries, right arm puts on blue pad.",
+    "Lift the red block, hand it across away from the small world globe, then place it on blue pad.",
+    "Use left arm to pick red block, avoid the earth-shaped globe with black frame during handoff, right arm place blue pad.",
+    "Left arm lifts red block, handover away from the compact globe with labeled countries, right arm sets it on blue pad.",
+    "Grab red block, pass it along a path clear of the globe featuring bright country colors, place onto blue pad.",
+    "Grab the red block, transfer it while steering clear of the small sphere showing earth map, place on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the compact globe with labeled countries, then place on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the blue globe, place blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the small sphere showing earth map, set on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the colorful globe on black stand, and place on blue pad.",
+    "Lift the red block, do a handover avoiding the blue globe, then place it onto the blue pad.",
+    "Pick the red block, hand it over while keeping clear of the blue globe with colorful continents, then place on blue pad.",
+    "Secure the red block, transfer it away from the globe sitting on curved black base, and drop it onto the blue pad.",
+    "Left arm grips red block, hands off away from the hand-sized globe on sturdy stand, right arm places on blue pad.",
+    "Pick the red block, keep the transfer away from the compact globe with labeled countries, and place it on blue pad.",
+    "Take the red block from the table, hand over away from the hand-sized globe on sturdy stand, drop on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the compact globe with labeled countries, then places on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the globe featuring bright country colors, then sets it on blue pad.",
+    "Take the red block from the table, pass it clear of the globe sitting on curved black base, and put it on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the compact globe with labeled countries, place on blue pad.",
+    "Left arm take red block, keep the pass away from the globe with curved black base, right arm puts on blue pad."
+  ],
+  "unseen": [
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad."
+  ]
+}
\ No newline at end of file
diff --git a/handover_block_wp1/handover_block_wp1/instructions/episode76.json b/handover_block_wp1/handover_block_wp1/instructions/episode76.json
new file mode 100644
index 0000000000000000000000000000000000000000..469f87ac4b32dd76f48f2851b512b1ecf8ae8cd1
--- /dev/null
+++ b/handover_block_wp1/handover_block_wp1/instructions/episode76.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Left arm takes the red block, hands it to right arm avoiding the round globe with sturdy base, then places on blue pad.",
+    "Grab the red block, transfer it while steering clear of the round globe with sturdy base, place on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the globe with smooth surface, then place on blue pad.",
+    "Pick the red block, keep the transfer away from the Earth map globe, and place it on blue pad.",
+    "Lift the red block, hand it across away from the globe with smooth surface, then place it on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the Earth map globe, place on blue pad.",
+    "Grab red block, pass it along a path clear of the wooden globe with metal base, place onto blue pad.",
+    "Take the red block from the table, pass it clear of the globe with smooth surface, and put it on blue pad.",
+    "Left arm take red block, keep the pass away from the Earth map globe, right arm puts on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the spinning brown globe, and place on blue pad.",
+    "Left arm lifts red block, handover away from the globe for geographic reference, right arm sets it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the brown globe on black stand, then sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the brown globe on black stand, then place on blue pad.",
+    "Secure the red block, transfer it away from the decor piece globe, and drop it onto the blue pad.",
+    "Take the red block from the table, hand over away from the round globe with sturdy base, drop on blue pad.",
+    "Left arm grips red block, hands off away from the Earth map globe, right arm places on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the Earth map globe, place blue pad.",
+    "Lift the red block, do a handover avoiding the smooth beige globe with continents, then place it onto the blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the beige and brown globe, set on blue pad.",
+    "Use left arm to pick red block, avoid the wooden globe with metal base during handoff, right arm place blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe with curved black stand, then places on blue pad.",
+    "Grab the red block, transfer it while steering clear of the decor piece globe, place on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the Earth map globe, then place on blue pad.",
+    "Pick the red block, keep the transfer away from the round globe with sturdy base, and place it on blue pad.",
+    "Lift the red block, hand it across away from the smooth beige globe with continents, then place it on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the beige and brown globe, place on blue pad.",
+    "Grab red block, pass it along a path clear of the brown globe on black stand, place onto blue pad.",
+    "Take the red block from the table, pass it clear of the round Earth globe, and put it on blue pad.",
+    "Left arm take red block, keep the pass away from the globe with curved black stand, right arm puts on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the Earth map globe, and place on blue pad.",
+    "Left arm lifts red block, handover away from the Earth map globe, right arm sets it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the Earth map globe, then sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the wooden globe with metal base, then place on blue pad.",
+    "Secure the red block, transfer it away from the decor piece globe, and drop it onto the blue pad.",
+    "Take the red block from the table, hand over away from the beige and brown globe, drop on blue pad.",
+    "Left arm grips red block, hands off away from the globe for geographic reference, right arm places on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe for geographic reference, place blue pad.",
+    "Lift the red block, do a handover avoiding the globe with curved black stand, then place it onto the blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the round globe with sturdy base, set on blue pad.",
+    "Use left arm to pick red block, avoid the globe for geographic reference during handoff, right arm place blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the beige and brown globe, then places on blue pad.",
+    "Grab the red block, transfer it while steering clear of the round globe with sturdy base, place on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the round globe with sturdy base, then place on blue pad.",
+    "Pick the red block, keep the transfer away from the round Earth globe, and place it on blue pad.",
+    "Lift the red block, hand it across away from the wooden globe with metal base, then place it on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe with curved black stand, place on blue pad.",
+    "Grab red block, pass it along a path clear of the round Earth globe, place onto blue pad.",
+    "Take the red block from the table, pass it clear of the Earth map globe, and put it on blue pad.",
+    "Left arm take red block, keep the pass away from the globe with smooth surface, right arm puts on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the beige and brown globe, and place on blue pad.",
+    "Left arm lifts red block, handover away from the wooden globe with metal base, right arm sets it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the brown globe on black stand, then sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the beige and brown globe, then place on blue pad.",
+    "Secure the red block, transfer it away from the Earth map globe, and drop it onto the blue pad.",
+    "Take the red block from the table, hand over away from the wooden globe with metal base, drop on blue pad.",
+    "Left arm grips red block, hands off away from the brown globe on black stand, right arm places on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe for geographic reference, place blue pad.",
+    "Lift the red block, do a handover avoiding the decor piece globe, then place it onto the blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the beige and brown globe, set on blue pad.",
+    "Use left arm to pick red block, avoid the smooth beige globe with continents during handoff, right arm place blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the spinning brown globe, then places on blue pad.",
+    "Grab the red block, transfer it while steering clear of the globe for geographic reference, place on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the globe for geographic reference, then place on blue pad.",
+    "Pick the red block, keep the transfer away from the decor piece globe, and place it on blue pad.",
+    "Lift the red block, hand it across away from the decor piece globe, then place it on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the Earth map globe, place on blue pad.",
+    "Grab red block, pass it along a path clear of the spinning brown globe, place onto blue pad.",
+    "Take the red block from the table, pass it clear of the round Earth globe, and put it on blue pad.",
+    "Left arm take red block, keep the pass away from the spinning brown globe, right arm puts on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe with smooth surface, and place on blue pad.",
+    "Left arm lifts red block, handover away from the globe for geographic reference, right arm sets it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the beige and brown globe, then sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the brown globe on black stand, then place on blue pad.",
+    "Secure the red block, transfer it away from the globe with curved black stand, and drop it onto the blue pad.",
+    "Take the red block from the table, hand over away from the globe with smooth surface, drop on blue pad.",
+    "Left arm grips red block, hands off away from the round Earth globe, right arm places on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the round globe with sturdy base, place blue pad.",
+    "Lift the red block, do a handover avoiding the beige and brown globe, then place it onto the blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe with curved black stand, set on blue pad.",
+    "Use left arm to pick red block, avoid the smooth beige globe with continents during handoff, right arm place blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the Earth map globe, then places on blue pad.",
+    "Grab the red block, transfer it while steering clear of the wooden globe with metal base, place on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the globe for geographic reference, then place on blue pad.",
+    "Pick the red block, keep the transfer away from the brown globe on black stand, and place it on blue pad.",
+    "Lift the red block, hand it across away from the brown globe on black stand, then place it on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the spinning brown globe, place on blue pad.",
+    "Grab red block, pass it along a path clear of the globe with smooth surface, place onto blue pad.",
+    "Take the red block from the table, pass it clear of the decor piece globe, and put it on blue pad.",
+    "Left arm take red block, keep the pass away from the spinning brown globe, right arm puts on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe with smooth surface, and place on blue pad.",
+    "Left arm lifts red block, handover away from the globe with curved black stand, right arm sets it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the smooth beige globe with continents, then sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe with curved black stand, then place on blue pad.",
+    "Secure the red block, transfer it away from the beige and brown globe, and drop it onto the blue pad.",
+    "Take the red block from the table, hand over away from the beige and brown globe, drop on blue pad.",
+    "Left arm grips red block, hands off away from the decor piece globe, right arm places on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe with smooth surface, place blue pad.",
+    "Lift the red block, do a handover avoiding the globe with smooth surface, then place it onto the blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the round Earth globe, set on blue pad.",
+    "Use left arm to pick red block, avoid the wooden globe with metal base during handoff, right arm place blue pad."
+  ],
+  "unseen": [
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad."
+  ]
+}
\ No newline at end of file
diff --git a/handover_block_wp1/handover_block_wp1/instructions/episode77.json b/handover_block_wp1/handover_block_wp1/instructions/episode77.json
new file mode 100644
index 0000000000000000000000000000000000000000..36ff1b6ecc7d8a03370f6542152e7947421f1d2e
--- /dev/null
+++ b/handover_block_wp1/handover_block_wp1/instructions/episode77.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Left arm take red block, keep the pass away from the globe featuring bright country colors, right arm puts on blue pad.",
+    "Use left arm to pick red block, avoid the small sphere showing earth map during handoff, right arm place blue pad.",
+    "Pick the red block, keep the transfer away from the compact globe with labeled countries, and place it on blue pad.",
+    "Secure the red block, transfer it away from the small world globe, and drop it onto the blue pad.",
+    "Take the red block from the table, pass it clear of the hand-sized globe on sturdy stand, and put it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the blue globe, place blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the hand-sized globe on sturdy stand, then place on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the hand-sized globe on sturdy stand, then places on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the colorful globe on black stand, set on blue pad.",
+    "Grab red block, pass it along a path clear of the blue globe with colorful continents, place onto blue pad.",
+    "Grab the red block, transfer it while steering clear of the small world globe, place on blue pad.",
+    "Take the red block from the table, hand over away from the blue globe, drop on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the blue sphere with countries marked, then sets it on blue pad.",
+    "Lift the red block, hand it across away from the compact globe with labeled countries, then place it on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the compact globe with labeled countries, place on blue pad.",
+    "Left arm grips red block, hands off away from the blue globe, right arm places on blue pad.",
+    "Left arm lifts red block, handover away from the compact globe with labeled countries, right arm sets it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the blue globe, then place on blue pad.",
+    "Lift the red block, do a handover avoiding the small sphere showing earth map, then place it onto the blue pad.",
+    "Pick up the red block, transfer it while staying clear of the blue globe with colorful continents, and place on blue pad.",
+    "Left arm take red block, keep the pass away from the small world globe, right arm puts on blue pad.",
+    "Use left arm to pick red block, avoid the small sphere showing earth map during handoff, right arm place blue pad.",
+    "Pick the red block, keep the transfer away from the blue globe with colorful continents, and place it on blue pad.",
+    "Secure the red block, transfer it away from the hand-sized globe on sturdy stand, and drop it onto the blue pad.",
+    "Take the red block from the table, pass it clear of the globe sitting on curved black base, and put it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe featuring bright country colors, place blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the small world globe, then place on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the blue globe with colorful continents, then places on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the compact globe with labeled countries, set on blue pad.",
+    "Grab red block, pass it along a path clear of the blue sphere with countries marked, place onto blue pad.",
+    "Grab the red block, transfer it while steering clear of the globe with curved black base, place on blue pad.",
+    "Take the red block from the table, hand over away from the earth-shaped globe with black frame, drop on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the blue sphere with countries marked, then sets it on blue pad.",
+    "Lift the red block, hand it across away from the colorful globe on black stand, then place it on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the hand-sized globe on sturdy stand, place on blue pad.",
+    "Left arm grips red block, hands off away from the earth-shaped globe with black frame, right arm places on blue pad.",
+    "Left arm lifts red block, handover away from the compact globe with labeled countries, right arm sets it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the globe sitting on curved black base, then place on blue pad.",
+    "Lift the red block, do a handover avoiding the globe sitting on curved black base, then place it onto the blue pad.",
+    "Pick up the red block, transfer it while staying clear of the small world globe, and place on blue pad.",
+    "Left arm take red block, keep the pass away from the colorful globe on black stand, right arm puts on blue pad.",
+    "Use left arm to pick red block, avoid the globe with curved black base during handoff, right arm place blue pad.",
+    "Pick the red block, keep the transfer away from the globe sitting on curved black base, and place it on blue pad.",
+    "Secure the red block, transfer it away from the blue globe with colorful continents, and drop it onto the blue pad.",
+    "Take the red block from the table, pass it clear of the globe featuring bright country colors, and put it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the blue sphere with countries marked, place blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the hand-sized globe on sturdy stand, then place on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the small world globe, then places on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe featuring bright country colors, set on blue pad.",
+    "Grab red block, pass it along a path clear of the globe featuring bright country colors, place onto blue pad.",
+    "Grab the red block, transfer it while steering clear of the blue globe with colorful continents, place on blue pad.",
+    "Take the red block from the table, hand over away from the blue sphere with countries marked, drop on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the blue globe with colorful continents, then sets it on blue pad.",
+    "Lift the red block, hand it across away from the globe with curved black base, then place it on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the earth-shaped globe with black frame, place on blue pad.",
+    "Left arm grips red block, hands off away from the earth-shaped globe with black frame, right arm places on blue pad.",
+    "Left arm lifts red block, handover away from the small world globe, right arm sets it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the small world globe, then place on blue pad.",
+    "Lift the red block, do a handover avoiding the blue globe, then place it onto the blue pad.",
+    "Pick up the red block, transfer it while staying clear of the compact globe with labeled countries, and place on blue pad.",
+    "Left arm take red block, keep the pass away from the blue globe with colorful continents, right arm puts on blue pad.",
+    "Use left arm to pick red block, avoid the globe with curved black base during handoff, right arm place blue pad.",
+    "Pick the red block, keep the transfer away from the earth-shaped globe with black frame, and place it on blue pad.",
+    "Secure the red block, transfer it away from the compact globe with labeled countries, and drop it onto the blue pad.",
+    "Take the red block from the table, pass it clear of the globe sitting on curved black base, and put it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the compact globe with labeled countries, place blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe featuring bright country colors, then place on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the blue sphere with countries marked, then places on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the blue globe with colorful continents, set on blue pad.",
+    "Grab red block, pass it along a path clear of the earth-shaped globe with black frame, place onto blue pad.",
+    "Grab the red block, transfer it while steering clear of the globe featuring bright country colors, place on blue pad.",
+    "Take the red block from the table, hand over away from the hand-sized globe on sturdy stand, drop on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the small world globe, then sets it on blue pad.",
+    "Lift the red block, hand it across away from the blue globe, then place it on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe sitting on curved black base, place on blue pad.",
+    "Left arm grips red block, hands off away from the earth-shaped globe with black frame, right arm places on blue pad.",
+    "Left arm lifts red block, handover away from the colorful globe on black stand, right arm sets it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the hand-sized globe on sturdy stand, then place on blue pad.",
+    "Lift the red block, do a handover avoiding the compact globe with labeled countries, then place it onto the blue pad.",
+    "Pick up the red block, transfer it while staying clear of the colorful globe on black stand, and place on blue pad.",
+    "Left arm take red block, keep the pass away from the globe featuring bright country colors, right arm puts on blue pad.",
+    "Use left arm to pick red block, avoid the blue globe with colorful continents during handoff, right arm place blue pad.",
+    "Pick the red block, keep the transfer away from the blue globe, and place it on blue pad.",
+    "Secure the red block, transfer it away from the small sphere showing earth map, and drop it onto the blue pad.",
+    "Take the red block from the table, pass it clear of the colorful globe on black stand, and put it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the earth-shaped globe with black frame, place blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the colorful globe on black stand, then place on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the blue globe, then places on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the small world globe, set on blue pad.",
+    "Grab red block, pass it along a path clear of the blue sphere with countries marked, place onto blue pad.",
+    "Grab the red block, transfer it while steering clear of the small world globe, place on blue pad.",
+    "Take the red block from the table, hand over away from the small sphere showing earth map, drop on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the small world globe, then sets it on blue pad.",
+    "Lift the red block, hand it across away from the small world globe, then place it on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe sitting on curved black base, place on blue pad.",
+    "Left arm grips red block, hands off away from the small sphere showing earth map, right arm places on blue pad.",
+    "Left arm lifts red block, handover away from the small world globe, right arm sets it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the blue globe, then place on blue pad.",
+    "Lift the red block, do a handover avoiding the blue globe, then place it onto the blue pad.",
+    "Pick up the red block, transfer it while staying clear of the colorful globe on black stand, and place on blue pad."
+  ],
+  "unseen": [
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad."
+  ]
+}
\ No newline at end of file
diff --git a/handover_block_wp1/handover_block_wp1/instructions/episode78.json b/handover_block_wp1/handover_block_wp1/instructions/episode78.json
new file mode 100644
index 0000000000000000000000000000000000000000..499d24deb6d5269d4bc8e902aa8cbe69437e30ff
--- /dev/null
+++ b/handover_block_wp1/handover_block_wp1/instructions/episode78.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Secure the red block, transfer it away from the round globe with sturdy base, and drop it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the smooth beige globe with continents, then place on blue pad.",
+    "Left arm lifts red block, handover away from the smooth beige globe with continents, right arm sets it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the globe with curved black stand, then sets it on blue pad.",
+    "Lift the red block, do a handover avoiding the globe for geographic reference, then place it onto the blue pad.",
+    "Use left arm to pick red block, avoid the globe with smooth surface during handoff, right arm place blue pad.",
+    "Take the red block from the table, pass it clear of the wooden globe with metal base, and put it on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe with smooth surface, place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe for geographic reference, and place on blue pad.",
+    "Grab the red block, transfer it while steering clear of the decor piece globe, place on blue pad.",
+    "Left arm take red block, keep the pass away from the beige and brown globe, right arm puts on blue pad.",
+    "Take the red block from the table, hand over away from the brown globe on black stand, drop on blue pad.",
+    "Grab red block, pass it along a path clear of the globe with curved black stand, place onto blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe for geographic reference, then places on blue pad.",
+    "Lift the red block, hand it across away from the beige and brown globe, then place it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the Earth map globe, then place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the round globe with sturdy base, set on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe with curved black stand, place blue pad.",
+    "Pick the red block, keep the transfer away from the smooth beige globe with continents, and place it on blue pad.",
+    "Left arm grips red block, hands off away from the decor piece globe, right arm places on blue pad.",
+    "Secure the red block, transfer it away from the globe with curved black stand, and drop it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the spinning brown globe, then place on blue pad.",
+    "Left arm lifts red block, handover away from the globe with curved black stand, right arm sets it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the round Earth globe, then sets it on blue pad.",
+    "Lift the red block, do a handover avoiding the spinning brown globe, then place it onto the blue pad.",
+    "Use left arm to pick red block, avoid the spinning brown globe during handoff, right arm place blue pad.",
+    "Take the red block from the table, pass it clear of the globe for geographic reference, and put it on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe with smooth surface, place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the Earth map globe, and place on blue pad.",
+    "Grab the red block, transfer it while steering clear of the globe for geographic reference, place on blue pad.",
+    "Left arm take red block, keep the pass away from the beige and brown globe, right arm puts on blue pad.",
+    "Take the red block from the table, hand over away from the round Earth globe, drop on blue pad.",
+    "Grab red block, pass it along a path clear of the beige and brown globe, place onto blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the decor piece globe, then places on blue pad.",
+    "Lift the red block, hand it across away from the spinning brown globe, then place it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the spinning brown globe, then place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the round globe with sturdy base, set on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the brown globe on black stand, place blue pad.",
+    "Pick the red block, keep the transfer away from the spinning brown globe, and place it on blue pad.",
+    "Left arm grips red block, hands off away from the globe with smooth surface, right arm places on blue pad.",
+    "Secure the red block, transfer it away from the globe with curved black stand, and drop it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe with curved black stand, then place on blue pad.",
+    "Left arm lifts red block, handover away from the beige and brown globe, right arm sets it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the Earth map globe, then sets it on blue pad.",
+    "Lift the red block, do a handover avoiding the beige and brown globe, then place it onto the blue pad.",
+    "Use left arm to pick red block, avoid the Earth map globe during handoff, right arm place blue pad.",
+    "Take the red block from the table, pass it clear of the smooth beige globe with continents, and put it on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the wooden globe with metal base, place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the decor piece globe, and place on blue pad.",
+    "Grab the red block, transfer it while steering clear of the wooden globe with metal base, place on blue pad.",
+    "Left arm take red block, keep the pass away from the smooth beige globe with continents, right arm puts on blue pad.",
+    "Take the red block from the table, hand over away from the Earth map globe, drop on blue pad.",
+    "Grab red block, pass it along a path clear of the wooden globe with metal base, place onto blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the wooden globe with metal base, then places on blue pad.",
+    "Lift the red block, hand it across away from the wooden globe with metal base, then place it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the wooden globe with metal base, then place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the wooden globe with metal base, set on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe for geographic reference, place blue pad.",
+    "Pick the red block, keep the transfer away from the brown globe on black stand, and place it on blue pad.",
+    "Left arm grips red block, hands off away from the brown globe on black stand, right arm places on blue pad.",
+    "Secure the red block, transfer it away from the globe with smooth surface, and drop it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the round globe with sturdy base, then place on blue pad.",
+    "Left arm lifts red block, handover away from the globe with smooth surface, right arm sets it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the round Earth globe, then sets it on blue pad.",
+    "Lift the red block, do a handover avoiding the round Earth globe, then place it onto the blue pad.",
+    "Use left arm to pick red block, avoid the wooden globe with metal base during handoff, right arm place blue pad.",
+    "Take the red block from the table, pass it clear of the globe with curved black stand, and put it on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the spinning brown globe, place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the spinning brown globe, and place on blue pad.",
+    "Grab the red block, transfer it while steering clear of the Earth map globe, place on blue pad.",
+    "Left arm take red block, keep the pass away from the smooth beige globe with continents, right arm puts on blue pad.",
+    "Take the red block from the table, hand over away from the decor piece globe, drop on blue pad.",
+    "Grab red block, pass it along a path clear of the round globe with sturdy base, place onto blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the decor piece globe, then places on blue pad.",
+    "Lift the red block, hand it across away from the globe for geographic reference, then place it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the beige and brown globe, then place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the beige and brown globe, set on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the beige and brown globe, place blue pad.",
+    "Pick the red block, keep the transfer away from the wooden globe with metal base, and place it on blue pad.",
+    "Left arm grips red block, hands off away from the globe with smooth surface, right arm places on blue pad.",
+    "Secure the red block, transfer it away from the Earth map globe, and drop it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe for geographic reference, then place on blue pad.",
+    "Left arm lifts red block, handover away from the spinning brown globe, right arm sets it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the beige and brown globe, then sets it on blue pad.",
+    "Lift the red block, do a handover avoiding the Earth map globe, then place it onto the blue pad.",
+    "Use left arm to pick red block, avoid the round globe with sturdy base during handoff, right arm place blue pad.",
+    "Take the red block from the table, pass it clear of the spinning brown globe, and put it on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the decor piece globe, place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe for geographic reference, and place on blue pad.",
+    "Grab the red block, transfer it while steering clear of the round globe with sturdy base, place on blue pad.",
+    "Left arm take red block, keep the pass away from the round globe with sturdy base, right arm puts on blue pad.",
+    "Take the red block from the table, hand over away from the decor piece globe, drop on blue pad.",
+    "Grab red block, pass it along a path clear of the wooden globe with metal base, place onto blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the wooden globe with metal base, then places on blue pad.",
+    "Lift the red block, hand it across away from the decor piece globe, then place it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the spinning brown globe, then place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe with smooth surface, set on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the Earth map globe, place blue pad.",
+    "Pick the red block, keep the transfer away from the globe for geographic reference, and place it on blue pad.",
+    "Left arm grips red block, hands off away from the Earth map globe, right arm places on blue pad."
+  ],
+  "unseen": [
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe."
+  ]
+}
\ No newline at end of file
diff --git a/handover_block_wp1/handover_block_wp1/instructions/episode79.json b/handover_block_wp1/handover_block_wp1/instructions/episode79.json
new file mode 100644
index 0000000000000000000000000000000000000000..96a939eaafc4d0fa00ec936ff2d898e27fb62257
--- /dev/null
+++ b/handover_block_wp1/handover_block_wp1/instructions/episode79.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the red block from the table, hand over away from the blue globe, drop on blue pad.",
+    "Pick the red block, keep the transfer away from the blue globe, and place it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the small world globe, then place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the compact globe with labeled countries, set on blue pad.",
+    "Left arm take red block, keep the pass away from the blue globe, right arm puts on blue pad.",
+    "Secure the red block, transfer it away from the colorful globe on black stand, and drop it onto the blue pad.",
+    "Use left arm to pick red block, avoid the blue globe during handoff, right arm place blue pad.",
+    "Lift the red block, hand it across away from the small sphere showing earth map, then place it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the globe with curved black base, then sets it on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe with curved black base, place on blue pad.",
+    "Grab red block, pass it along a path clear of the blue sphere with countries marked, place onto blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe sitting on curved black base, then places on blue pad.",
+    "Take the red block from the table, pass it clear of the earth-shaped globe with black frame, and put it on blue pad.",
+    "Left arm grips red block, hands off away from the earth-shaped globe with black frame, right arm places on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the earth-shaped globe with black frame, place blue pad.",
+    "Grab the red block, transfer it while steering clear of the blue globe with colorful continents, place on blue pad.",
+    "Lift the red block, do a handover avoiding the small sphere showing earth map, then place it onto the blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe sitting on curved black base, and place on blue pad.",
+    "Left arm lifts red block, handover away from the blue globe, right arm sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the colorful globe on black stand, then place on blue pad.",
+    "Take the red block from the table, hand over away from the hand-sized globe on sturdy stand, drop on blue pad.",
+    "Pick the red block, keep the transfer away from the blue sphere with countries marked, and place it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the globe featuring bright country colors, then place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the compact globe with labeled countries, set on blue pad.",
+    "Left arm take red block, keep the pass away from the small world globe, right arm puts on blue pad.",
+    "Secure the red block, transfer it away from the blue globe, and drop it onto the blue pad.",
+    "Use left arm to pick red block, avoid the earth-shaped globe with black frame during handoff, right arm place blue pad.",
+    "Lift the red block, hand it across away from the small sphere showing earth map, then place it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the compact globe with labeled countries, then sets it on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe sitting on curved black base, place on blue pad.",
+    "Grab red block, pass it along a path clear of the small sphere showing earth map, place onto blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe featuring bright country colors, then places on blue pad.",
+    "Take the red block from the table, pass it clear of the blue globe with colorful continents, and put it on blue pad.",
+    "Left arm grips red block, hands off away from the globe with curved black base, right arm places on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the earth-shaped globe with black frame, place blue pad.",
+    "Grab the red block, transfer it while steering clear of the globe sitting on curved black base, place on blue pad.",
+    "Lift the red block, do a handover avoiding the blue globe with colorful continents, then place it onto the blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe sitting on curved black base, and place on blue pad.",
+    "Left arm lifts red block, handover away from the earth-shaped globe with black frame, right arm sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the small sphere showing earth map, then place on blue pad.",
+    "Take the red block from the table, hand over away from the globe sitting on curved black base, drop on blue pad.",
+    "Pick the red block, keep the transfer away from the hand-sized globe on sturdy stand, and place it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the colorful globe on black stand, then place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the colorful globe on black stand, set on blue pad.",
+    "Left arm take red block, keep the pass away from the small sphere showing earth map, right arm puts on blue pad.",
+    "Secure the red block, transfer it away from the earth-shaped globe with black frame, and drop it onto the blue pad.",
+    "Use left arm to pick red block, avoid the blue globe during handoff, right arm place blue pad.",
+    "Lift the red block, hand it across away from the compact globe with labeled countries, then place it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the compact globe with labeled countries, then sets it on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the earth-shaped globe with black frame, place on blue pad.",
+    "Grab red block, pass it along a path clear of the small sphere showing earth map, place onto blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the colorful globe on black stand, then places on blue pad.",
+    "Take the red block from the table, pass it clear of the compact globe with labeled countries, and put it on blue pad.",
+    "Left arm grips red block, hands off away from the small world globe, right arm places on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the blue globe with colorful continents, place blue pad.",
+    "Grab the red block, transfer it while steering clear of the globe featuring bright country colors, place on blue pad.",
+    "Lift the red block, do a handover avoiding the blue globe with colorful continents, then place it onto the blue pad.",
+    "Pick up the red block, transfer it while staying clear of the blue globe with colorful continents, and place on blue pad.",
+    "Left arm lifts red block, handover away from the globe with curved black base, right arm sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the blue globe with colorful continents, then place on blue pad.",
+    "Take the red block from the table, hand over away from the globe with curved black base, drop on blue pad.",
+    "Pick the red block, keep the transfer away from the earth-shaped globe with black frame, and place it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the small sphere showing earth map, then place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe with curved black base, set on blue pad.",
+    "Left arm take red block, keep the pass away from the earth-shaped globe with black frame, right arm puts on blue pad.",
+    "Secure the red block, transfer it away from the earth-shaped globe with black frame, and drop it onto the blue pad.",
+    "Use left arm to pick red block, avoid the globe sitting on curved black base during handoff, right arm place blue pad.",
+    "Lift the red block, hand it across away from the globe featuring bright country colors, then place it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the hand-sized globe on sturdy stand, then sets it on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe with curved black base, place on blue pad.",
+    "Grab red block, pass it along a path clear of the colorful globe on black stand, place onto blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the earth-shaped globe with black frame, then places on blue pad.",
+    "Take the red block from the table, pass it clear of the colorful globe on black stand, and put it on blue pad.",
+    "Left arm grips red block, hands off away from the globe featuring bright country colors, right arm places on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the blue globe, place blue pad.",
+    "Grab the red block, transfer it while steering clear of the hand-sized globe on sturdy stand, place on blue pad.",
+    "Lift the red block, do a handover avoiding the compact globe with labeled countries, then place it onto the blue pad.",
+    "Pick up the red block, transfer it while staying clear of the blue globe, and place on blue pad.",
+    "Left arm lifts red block, handover away from the blue sphere with countries marked, right arm sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the hand-sized globe on sturdy stand, then place on blue pad.",
+    "Take the red block from the table, hand over away from the globe with curved black base, drop on blue pad.",
+    "Pick the red block, keep the transfer away from the hand-sized globe on sturdy stand, and place it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the globe sitting on curved black base, then place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe with curved black base, set on blue pad.",
+    "Left arm take red block, keep the pass away from the blue sphere with countries marked, right arm puts on blue pad.",
+    "Secure the red block, transfer it away from the hand-sized globe on sturdy stand, and drop it onto the blue pad.",
+    "Use left arm to pick red block, avoid the globe with curved black base during handoff, right arm place blue pad.",
+    "Lift the red block, hand it across away from the blue sphere with countries marked, then place it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the colorful globe on black stand, then sets it on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the blue sphere with countries marked, place on blue pad.",
+    "Grab red block, pass it along a path clear of the blue sphere with countries marked, place onto blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the blue globe with colorful continents, then places on blue pad.",
+    "Take the red block from the table, pass it clear of the blue globe with colorful continents, and put it on blue pad.",
+    "Left arm grips red block, hands off away from the hand-sized globe on sturdy stand, right arm places on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the hand-sized globe on sturdy stand, place blue pad.",
+    "Grab the red block, transfer it while steering clear of the blue sphere with countries marked, place on blue pad.",
+    "Lift the red block, do a handover avoiding the colorful globe on black stand, then place it onto the blue pad.",
+    "Pick up the red block, transfer it while staying clear of the blue globe, and place on blue pad.",
+    "Left arm lifts red block, handover away from the blue globe with colorful continents, right arm sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe with curved black base, then place on blue pad."
+  ],
+  "unseen": [
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad."
+  ]
+}
\ No newline at end of file
diff --git a/handover_block_wp1/handover_block_wp1/instructions/episode8.json b/handover_block_wp1/handover_block_wp1/instructions/episode8.json
new file mode 100644
index 0000000000000000000000000000000000000000..d603c2a5c7f1cfbcfb8ce919be843a5a88c98bf3
--- /dev/null
+++ b/handover_block_wp1/handover_block_wp1/instructions/episode8.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the red block from the table, pass it clear of the smooth beige globe with continents, and put it on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe for geographic reference, place on blue pad.",
+    "Left arm take red block, keep the pass away from the decor piece globe, right arm puts on blue pad.",
+    "Take the red block from the table, hand over away from the globe with curved black stand, drop on blue pad.",
+    "Left arm lifts red block, handover away from the brown globe on black stand, right arm sets it on blue pad.",
+    "Grab red block, pass it along a path clear of the decor piece globe, place onto blue pad.",
+    "Pick the red block, keep the transfer away from the round Earth globe, and place it on blue pad.",
+    "Lift the red block, do a handover avoiding the wooden globe with metal base, then place it onto the blue pad.",
+    "Grab the red block, transfer it while steering clear of the beige and brown globe, place on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe with curved black stand, then places on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the spinning brown globe, and place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the Earth map globe, set on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the spinning brown globe, then place on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the spinning brown globe, then sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the round Earth globe, place blue pad.",
+    "Use left arm to pick red block, avoid the Earth map globe during handoff, right arm place blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the brown globe on black stand, then place on blue pad.",
+    "Left arm grips red block, hands off away from the decor piece globe, right arm places on blue pad.",
+    "Secure the red block, transfer it away from the brown globe on black stand, and drop it onto the blue pad.",
+    "Lift the red block, hand it across away from the smooth beige globe with continents, then place it on blue pad.",
+    "Take the red block from the table, pass it clear of the smooth beige globe with continents, and put it on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe with smooth surface, place on blue pad.",
+    "Left arm take red block, keep the pass away from the Earth map globe, right arm puts on blue pad.",
+    "Take the red block from the table, hand over away from the globe with smooth surface, drop on blue pad.",
+    "Left arm lifts red block, handover away from the Earth map globe, right arm sets it on blue pad.",
+    "Grab red block, pass it along a path clear of the globe with smooth surface, place onto blue pad.",
+    "Pick the red block, keep the transfer away from the beige and brown globe, and place it on blue pad.",
+    "Lift the red block, do a handover avoiding the Earth map globe, then place it onto the blue pad.",
+    "Grab the red block, transfer it while steering clear of the smooth beige globe with continents, place on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe with curved black stand, then places on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the round Earth globe, and place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the brown globe on black stand, set on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the globe with curved black stand, then place on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the globe for geographic reference, then sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the spinning brown globe, place blue pad.",
+    "Use left arm to pick red block, avoid the round globe with sturdy base during handoff, right arm place blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the round globe with sturdy base, then place on blue pad.",
+    "Left arm grips red block, hands off away from the round Earth globe, right arm places on blue pad.",
+    "Secure the red block, transfer it away from the decor piece globe, and drop it onto the blue pad.",
+    "Lift the red block, hand it across away from the globe with curved black stand, then place it on blue pad.",
+    "Take the red block from the table, pass it clear of the decor piece globe, and put it on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe with smooth surface, place on blue pad.",
+    "Left arm take red block, keep the pass away from the globe for geographic reference, right arm puts on blue pad.",
+    "Take the red block from the table, hand over away from the beige and brown globe, drop on blue pad.",
+    "Left arm lifts red block, handover away from the decor piece globe, right arm sets it on blue pad.",
+    "Grab red block, pass it along a path clear of the spinning brown globe, place onto blue pad.",
+    "Pick the red block, keep the transfer away from the beige and brown globe, and place it on blue pad.",
+    "Lift the red block, do a handover avoiding the round Earth globe, then place it onto the blue pad.",
+    "Grab the red block, transfer it while steering clear of the spinning brown globe, place on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the beige and brown globe, then places on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the round globe with sturdy base, and place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the brown globe on black stand, set on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the round Earth globe, then place on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the globe for geographic reference, then sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the spinning brown globe, place blue pad.",
+    "Use left arm to pick red block, avoid the Earth map globe during handoff, right arm place blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the decor piece globe, then place on blue pad.",
+    "Left arm grips red block, hands off away from the brown globe on black stand, right arm places on blue pad.",
+    "Secure the red block, transfer it away from the round globe with sturdy base, and drop it onto the blue pad.",
+    "Lift the red block, hand it across away from the round Earth globe, then place it on blue pad.",
+    "Take the red block from the table, pass it clear of the beige and brown globe, and put it on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the decor piece globe, place on blue pad.",
+    "Left arm take red block, keep the pass away from the globe with curved black stand, right arm puts on blue pad.",
+    "Take the red block from the table, hand over away from the round globe with sturdy base, drop on blue pad.",
+    "Left arm lifts red block, handover away from the smooth beige globe with continents, right arm sets it on blue pad.",
+    "Grab red block, pass it along a path clear of the wooden globe with metal base, place onto blue pad.",
+    "Pick the red block, keep the transfer away from the round globe with sturdy base, and place it on blue pad.",
+    "Lift the red block, do a handover avoiding the Earth map globe, then place it onto the blue pad.",
+    "Grab the red block, transfer it while steering clear of the wooden globe with metal base, place on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the beige and brown globe, then places on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the decor piece globe, and place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the Earth map globe, set on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the round globe with sturdy base, then place on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the round Earth globe, then sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the round Earth globe, place blue pad.",
+    "Use left arm to pick red block, avoid the globe with smooth surface during handoff, right arm place blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the round Earth globe, then place on blue pad.",
+    "Left arm grips red block, hands off away from the spinning brown globe, right arm places on blue pad.",
+    "Secure the red block, transfer it away from the globe with curved black stand, and drop it onto the blue pad.",
+    "Lift the red block, hand it across away from the round Earth globe, then place it on blue pad.",
+    "Take the red block from the table, pass it clear of the globe for geographic reference, and put it on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the round globe with sturdy base, place on blue pad.",
+    "Left arm take red block, keep the pass away from the round Earth globe, right arm puts on blue pad.",
+    "Take the red block from the table, hand over away from the round Earth globe, drop on blue pad.",
+    "Left arm lifts red block, handover away from the Earth map globe, right arm sets it on blue pad.",
+    "Grab red block, pass it along a path clear of the beige and brown globe, place onto blue pad.",
+    "Pick the red block, keep the transfer away from the beige and brown globe, and place it on blue pad.",
+    "Lift the red block, do a handover avoiding the globe for geographic reference, then place it onto the blue pad.",
+    "Grab the red block, transfer it while steering clear of the globe for geographic reference, place on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the decor piece globe, then places on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the beige and brown globe, and place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe with smooth surface, set on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the globe for geographic reference, then place on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the globe with smooth surface, then sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the smooth beige globe with continents, place blue pad.",
+    "Use left arm to pick red block, avoid the brown globe on black stand during handoff, right arm place blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the round Earth globe, then place on blue pad.",
+    "Left arm grips red block, hands off away from the wooden globe with metal base, right arm places on blue pad.",
+    "Secure the red block, transfer it away from the round globe with sturdy base, and drop it onto the blue pad.",
+    "Lift the red block, hand it across away from the globe with smooth surface, then place it on blue pad."
+  ],
+  "unseen": [
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad."
+  ]
+}
\ No newline at end of file
diff --git a/handover_block_wp1/handover_block_wp1/instructions/episode80.json b/handover_block_wp1/handover_block_wp1/instructions/episode80.json
new file mode 100644
index 0000000000000000000000000000000000000000..32f622553e811e5fa3dc6301df71ee7effa46e6e
--- /dev/null
+++ b/handover_block_wp1/handover_block_wp1/instructions/episode80.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use left arm to pick red block, avoid the earth-shaped globe with black frame during handoff, right arm place blue pad.",
+    "Lift the red block, do a handover avoiding the globe sitting on curved black base, then place it onto the blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the hand-sized globe on sturdy stand, then places on blue pad.",
+    "Left arm grips red block, hands off away from the small sphere showing earth map, right arm places on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the small world globe, then sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the blue globe, place blue pad.",
+    "Grab red block, pass it along a path clear of the small world globe, place onto blue pad.",
+    "Take the red block from the table, pass it clear of the globe featuring bright country colors, and put it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe sitting on curved black base, set on blue pad.",
+    "Grab the red block, transfer it while steering clear of the blue sphere with countries marked, place on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the blue globe with colorful continents, then place on blue pad.",
+    "Take the red block from the table, hand over away from the hand-sized globe on sturdy stand, drop on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the earth-shaped globe with black frame, and place on blue pad.",
+    "Secure the red block, transfer it away from the blue globe with colorful continents, and drop it onto the blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the blue globe, place on blue pad.",
+    "Left arm take red block, keep the pass away from the blue globe with colorful continents, right arm puts on blue pad.",
+    "Pick the red block, keep the transfer away from the blue sphere with countries marked, and place it on blue pad.",
+    "Left arm lifts red block, handover away from the compact globe with labeled countries, right arm sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the blue sphere with countries marked, then place on blue pad.",
+    "Lift the red block, hand it across away from the colorful globe on black stand, then place it on blue pad.",
+    "Use left arm to pick red block, avoid the compact globe with labeled countries during handoff, right arm place blue pad.",
+    "Lift the red block, do a handover avoiding the colorful globe on black stand, then place it onto the blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the blue globe, then places on blue pad.",
+    "Left arm grips red block, hands off away from the earth-shaped globe with black frame, right arm places on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the hand-sized globe on sturdy stand, then sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe sitting on curved black base, place blue pad.",
+    "Grab red block, pass it along a path clear of the globe featuring bright country colors, place onto blue pad.",
+    "Take the red block from the table, pass it clear of the blue globe, and put it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the blue globe, set on blue pad.",
+    "Grab the red block, transfer it while steering clear of the earth-shaped globe with black frame, place on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the hand-sized globe on sturdy stand, then place on blue pad.",
+    "Take the red block from the table, hand over away from the small world globe, drop on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe with curved black base, and place on blue pad.",
+    "Secure the red block, transfer it away from the blue globe with colorful continents, and drop it onto the blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe with curved black base, place on blue pad.",
+    "Left arm take red block, keep the pass away from the globe featuring bright country colors, right arm puts on blue pad.",
+    "Pick the red block, keep the transfer away from the compact globe with labeled countries, and place it on blue pad.",
+    "Left arm lifts red block, handover away from the colorful globe on black stand, right arm sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the blue globe with colorful continents, then place on blue pad.",
+    "Lift the red block, hand it across away from the small sphere showing earth map, then place it on blue pad.",
+    "Use left arm to pick red block, avoid the compact globe with labeled countries during handoff, right arm place blue pad.",
+    "Lift the red block, do a handover avoiding the globe with curved black base, then place it onto the blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the blue globe, then places on blue pad.",
+    "Left arm grips red block, hands off away from the blue globe with colorful continents, right arm places on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the hand-sized globe on sturdy stand, then sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the hand-sized globe on sturdy stand, place blue pad.",
+    "Grab red block, pass it along a path clear of the small sphere showing earth map, place onto blue pad.",
+    "Take the red block from the table, pass it clear of the globe featuring bright country colors, and put it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the small sphere showing earth map, set on blue pad.",
+    "Grab the red block, transfer it while steering clear of the earth-shaped globe with black frame, place on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the small world globe, then place on blue pad.",
+    "Take the red block from the table, hand over away from the small world globe, drop on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the blue globe, and place on blue pad.",
+    "Secure the red block, transfer it away from the globe with curved black base, and drop it onto the blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the hand-sized globe on sturdy stand, place on blue pad.",
+    "Left arm take red block, keep the pass away from the small sphere showing earth map, right arm puts on blue pad.",
+    "Pick the red block, keep the transfer away from the blue sphere with countries marked, and place it on blue pad.",
+    "Left arm lifts red block, handover away from the small sphere showing earth map, right arm sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the earth-shaped globe with black frame, then place on blue pad.",
+    "Lift the red block, hand it across away from the globe with curved black base, then place it on blue pad.",
+    "Use left arm to pick red block, avoid the globe featuring bright country colors during handoff, right arm place blue pad.",
+    "Lift the red block, do a handover avoiding the globe sitting on curved black base, then place it onto the blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the colorful globe on black stand, then places on blue pad.",
+    "Left arm grips red block, hands off away from the globe featuring bright country colors, right arm places on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the blue sphere with countries marked, then sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe sitting on curved black base, place blue pad.",
+    "Grab red block, pass it along a path clear of the colorful globe on black stand, place onto blue pad.",
+    "Take the red block from the table, pass it clear of the globe featuring bright country colors, and put it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe with curved black base, set on blue pad.",
+    "Grab the red block, transfer it while steering clear of the earth-shaped globe with black frame, place on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the small world globe, then place on blue pad.",
+    "Take the red block from the table, hand over away from the small sphere showing earth map, drop on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the blue sphere with countries marked, and place on blue pad.",
+    "Secure the red block, transfer it away from the blue globe with colorful continents, and drop it onto the blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the blue globe with colorful continents, place on blue pad.",
+    "Left arm take red block, keep the pass away from the small sphere showing earth map, right arm puts on blue pad.",
+    "Pick the red block, keep the transfer away from the blue globe, and place it on blue pad.",
+    "Left arm lifts red block, handover away from the blue sphere with countries marked, right arm sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the hand-sized globe on sturdy stand, then place on blue pad.",
+    "Lift the red block, hand it across away from the blue sphere with countries marked, then place it on blue pad.",
+    "Use left arm to pick red block, avoid the earth-shaped globe with black frame during handoff, right arm place blue pad.",
+    "Lift the red block, do a handover avoiding the blue sphere with countries marked, then place it onto the blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the earth-shaped globe with black frame, then places on blue pad.",
+    "Left arm grips red block, hands off away from the small sphere showing earth map, right arm places on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the blue sphere with countries marked, then sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the blue sphere with countries marked, place blue pad.",
+    "Grab red block, pass it along a path clear of the blue globe, place onto blue pad.",
+    "Take the red block from the table, pass it clear of the hand-sized globe on sturdy stand, and put it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the earth-shaped globe with black frame, set on blue pad.",
+    "Grab the red block, transfer it while steering clear of the blue globe, place on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the blue sphere with countries marked, then place on blue pad.",
+    "Take the red block from the table, hand over away from the globe with curved black base, drop on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe sitting on curved black base, and place on blue pad.",
+    "Secure the red block, transfer it away from the colorful globe on black stand, and drop it onto the blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe featuring bright country colors, place on blue pad.",
+    "Left arm take red block, keep the pass away from the blue globe with colorful continents, right arm puts on blue pad.",
+    "Pick the red block, keep the transfer away from the globe featuring bright country colors, and place it on blue pad.",
+    "Left arm lifts red block, handover away from the hand-sized globe on sturdy stand, right arm sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the blue sphere with countries marked, then place on blue pad.",
+    "Lift the red block, hand it across away from the earth-shaped globe with black frame, then place it on blue pad."
+  ],
+  "unseen": [
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad."
+  ]
+}
\ No newline at end of file
diff --git a/handover_block_wp1/handover_block_wp1/instructions/episode81.json b/handover_block_wp1/handover_block_wp1/instructions/episode81.json
new file mode 100644
index 0000000000000000000000000000000000000000..b723a646436482929f39c69af27376679a80399b
--- /dev/null
+++ b/handover_block_wp1/handover_block_wp1/instructions/episode81.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the red block, hand it over while keeping clear of the blue sphere with countries marked, then place on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the blue globe, then place on blue pad.",
+    "Use left arm to pick red block, avoid the blue globe during handoff, right arm place blue pad.",
+    "Grab the red block, transfer it while steering clear of the blue sphere with countries marked, place on blue pad.",
+    "Left arm lifts red block, handover away from the colorful globe on black stand, right arm sets it on blue pad.",
+    "Lift the red block, hand it across away from the blue globe, then place it on blue pad.",
+    "Left arm take red block, keep the pass away from the globe with curved black base, right arm puts on blue pad.",
+    "Pick the red block, keep the transfer away from the small world globe, and place it on blue pad.",
+    "Take the red block from the table, hand over away from the earth-shaped globe with black frame, drop on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the hand-sized globe on sturdy stand, place blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe sitting on curved black base, and place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe sitting on curved black base, place on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the blue sphere with countries marked, then places on blue pad.",
+    "Lift the red block, do a handover avoiding the hand-sized globe on sturdy stand, then place it onto the blue pad.",
+    "Left arm grips red block, hands off away from the small sphere showing earth map, right arm places on blue pad.",
+    "Secure the red block, transfer it away from the globe featuring bright country colors, and drop it onto the blue pad.",
+    "Left arm grabs red block, right arm receives it away from the blue sphere with countries marked, then sets it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe with curved black base, set on blue pad.",
+    "Grab red block, pass it along a path clear of the blue sphere with countries marked, place onto blue pad.",
+    "Take the red block from the table, pass it clear of the colorful globe on black stand, and put it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the blue globe, then place on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the blue sphere with countries marked, then place on blue pad.",
+    "Use left arm to pick red block, avoid the globe with curved black base during handoff, right arm place blue pad.",
+    "Grab the red block, transfer it while steering clear of the earth-shaped globe with black frame, place on blue pad.",
+    "Left arm lifts red block, handover away from the small sphere showing earth map, right arm sets it on blue pad.",
+    "Lift the red block, hand it across away from the blue globe, then place it on blue pad.",
+    "Left arm take red block, keep the pass away from the blue globe, right arm puts on blue pad.",
+    "Pick the red block, keep the transfer away from the blue globe with colorful continents, and place it on blue pad.",
+    "Take the red block from the table, hand over away from the earth-shaped globe with black frame, drop on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the small sphere showing earth map, place blue pad.",
+    "Pick up the red block, transfer it while staying clear of the hand-sized globe on sturdy stand, and place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe with curved black base, place on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the small world globe, then places on blue pad.",
+    "Lift the red block, do a handover avoiding the small sphere showing earth map, then place it onto the blue pad.",
+    "Left arm grips red block, hands off away from the blue globe, right arm places on blue pad.",
+    "Secure the red block, transfer it away from the globe with curved black base, and drop it onto the blue pad.",
+    "Left arm grabs red block, right arm receives it away from the blue globe with colorful continents, then sets it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the earth-shaped globe with black frame, set on blue pad.",
+    "Grab red block, pass it along a path clear of the hand-sized globe on sturdy stand, place onto blue pad.",
+    "Take the red block from the table, pass it clear of the hand-sized globe on sturdy stand, and put it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the compact globe with labeled countries, then place on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the earth-shaped globe with black frame, then place on blue pad.",
+    "Use left arm to pick red block, avoid the blue globe with colorful continents during handoff, right arm place blue pad.",
+    "Grab the red block, transfer it while steering clear of the small sphere showing earth map, place on blue pad.",
+    "Left arm lifts red block, handover away from the earth-shaped globe with black frame, right arm sets it on blue pad.",
+    "Lift the red block, hand it across away from the globe featuring bright country colors, then place it on blue pad.",
+    "Left arm take red block, keep the pass away from the small world globe, right arm puts on blue pad.",
+    "Pick the red block, keep the transfer away from the hand-sized globe on sturdy stand, and place it on blue pad.",
+    "Take the red block from the table, hand over away from the globe featuring bright country colors, drop on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the blue sphere with countries marked, place blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe sitting on curved black base, and place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe with curved black base, place on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the blue globe, then places on blue pad.",
+    "Lift the red block, do a handover avoiding the small sphere showing earth map, then place it onto the blue pad.",
+    "Left arm grips red block, hands off away from the globe featuring bright country colors, right arm places on blue pad.",
+    "Secure the red block, transfer it away from the globe sitting on curved black base, and drop it onto the blue pad.",
+    "Left arm grabs red block, right arm receives it away from the globe sitting on curved black base, then sets it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the blue globe, set on blue pad.",
+    "Grab red block, pass it along a path clear of the earth-shaped globe with black frame, place onto blue pad.",
+    "Take the red block from the table, pass it clear of the blue globe with colorful continents, and put it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the small sphere showing earth map, then place on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the blue globe, then place on blue pad.",
+    "Use left arm to pick red block, avoid the earth-shaped globe with black frame during handoff, right arm place blue pad.",
+    "Grab the red block, transfer it while steering clear of the hand-sized globe on sturdy stand, place on blue pad.",
+    "Left arm lifts red block, handover away from the blue globe, right arm sets it on blue pad.",
+    "Lift the red block, hand it across away from the globe featuring bright country colors, then place it on blue pad.",
+    "Left arm take red block, keep the pass away from the hand-sized globe on sturdy stand, right arm puts on blue pad.",
+    "Pick the red block, keep the transfer away from the small sphere showing earth map, and place it on blue pad.",
+    "Take the red block from the table, hand over away from the blue globe with colorful continents, drop on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the blue sphere with countries marked, place blue pad.",
+    "Pick up the red block, transfer it while staying clear of the small sphere showing earth map, and place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe sitting on curved black base, place on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the blue globe with colorful continents, then places on blue pad.",
+    "Lift the red block, do a handover avoiding the globe with curved black base, then place it onto the blue pad.",
+    "Left arm grips red block, hands off away from the globe sitting on curved black base, right arm places on blue pad.",
+    "Secure the red block, transfer it away from the small sphere showing earth map, and drop it onto the blue pad.",
+    "Left arm grabs red block, right arm receives it away from the earth-shaped globe with black frame, then sets it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the small world globe, set on blue pad.",
+    "Grab red block, pass it along a path clear of the blue globe with colorful continents, place onto blue pad.",
+    "Take the red block from the table, pass it clear of the blue globe, and put it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the blue globe, then place on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the blue globe, then place on blue pad.",
+    "Use left arm to pick red block, avoid the small sphere showing earth map during handoff, right arm place blue pad.",
+    "Grab the red block, transfer it while steering clear of the globe with curved black base, place on blue pad.",
+    "Left arm lifts red block, handover away from the blue sphere with countries marked, right arm sets it on blue pad.",
+    "Lift the red block, hand it across away from the globe with curved black base, then place it on blue pad.",
+    "Left arm take red block, keep the pass away from the blue sphere with countries marked, right arm puts on blue pad.",
+    "Pick the red block, keep the transfer away from the blue sphere with countries marked, and place it on blue pad.",
+    "Take the red block from the table, hand over away from the hand-sized globe on sturdy stand, drop on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the earth-shaped globe with black frame, place blue pad.",
+    "Pick up the red block, transfer it while staying clear of the compact globe with labeled countries, and place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe with curved black base, place on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the earth-shaped globe with black frame, then places on blue pad.",
+    "Lift the red block, do a handover avoiding the colorful globe on black stand, then place it onto the blue pad.",
+    "Left arm grips red block, hands off away from the earth-shaped globe with black frame, right arm places on blue pad.",
+    "Secure the red block, transfer it away from the globe featuring bright country colors, and drop it onto the blue pad.",
+    "Left arm grabs red block, right arm receives it away from the hand-sized globe on sturdy stand, then sets it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the small world globe, set on blue pad.",
+    "Grab red block, pass it along a path clear of the small sphere showing earth map, place onto blue pad.",
+    "Take the red block from the table, pass it clear of the blue sphere with countries marked, and put it on blue pad."
+  ],
+  "unseen": [
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad."
+  ]
+}
\ No newline at end of file
diff --git a/handover_block_wp1/handover_block_wp1/instructions/episode82.json b/handover_block_wp1/handover_block_wp1/instructions/episode82.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e332d6fbaf3f1987edfec7b5c31bfd609932456
--- /dev/null
+++ b/handover_block_wp1/handover_block_wp1/instructions/episode82.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Left arm grips red block, hands off away from the blue globe with colorful continents, right arm places on blue pad.",
+    "Pick the red block, keep the transfer away from the compact globe with labeled countries, and place it on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe sitting on curved black base, place on blue pad.",
+    "Use left arm to pick red block, avoid the blue globe during handoff, right arm place blue pad.",
+    "Pick up the red block, transfer it while staying clear of the small sphere showing earth map, and place on blue pad.",
+    "Left arm take red block, keep the pass away from the earth-shaped globe with black frame, right arm puts on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the blue globe, then places on blue pad.",
+    "Lift the red block, do a handover avoiding the blue globe, then place it onto the blue pad.",
+    "Take the red block from the table, hand over away from the blue globe, drop on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the blue globe with colorful continents, set on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the blue globe, then place on blue pad.",
+    "Grab red block, pass it along a path clear of the globe sitting on curved black base, place onto blue pad.",
+    "Take the red block from the table, pass it clear of the blue globe with colorful continents, and put it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the blue sphere with countries marked, place on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the small sphere showing earth map, place blue pad.",
+    "Left arm grabs red block, right arm receives it away from the compact globe with labeled countries, then sets it on blue pad.",
+    "Left arm lifts red block, handover away from the blue globe with colorful continents, right arm sets it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the small world globe, then place on blue pad.",
+    "Lift the red block, hand it across away from the blue globe, then place it on blue pad.",
+    "Secure the red block, transfer it away from the compact globe with labeled countries, and drop it onto the blue pad.",
+    "Left arm grips red block, hands off away from the globe with curved black base, right arm places on blue pad.",
+    "Pick the red block, keep the transfer away from the globe with curved black base, and place it on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe with curved black base, place on blue pad.",
+    "Use left arm to pick red block, avoid the small world globe during handoff, right arm place blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe featuring bright country colors, and place on blue pad.",
+    "Left arm take red block, keep the pass away from the globe with curved black base, right arm puts on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the small sphere showing earth map, then places on blue pad.",
+    "Lift the red block, do a handover avoiding the globe featuring bright country colors, then place it onto the blue pad.",
+    "Take the red block from the table, hand over away from the blue globe with colorful continents, drop on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the blue globe with colorful continents, set on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the blue sphere with countries marked, then place on blue pad.",
+    "Grab red block, pass it along a path clear of the globe sitting on curved black base, place onto blue pad.",
+    "Take the red block from the table, pass it clear of the earth-shaped globe with black frame, and put it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the globe featuring bright country colors, place on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the small sphere showing earth map, place blue pad.",
+    "Left arm grabs red block, right arm receives it away from the blue globe with colorful continents, then sets it on blue pad.",
+    "Left arm lifts red block, handover away from the compact globe with labeled countries, right arm sets it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the blue sphere with countries marked, then place on blue pad.",
+    "Lift the red block, hand it across away from the hand-sized globe on sturdy stand, then place it on blue pad.",
+    "Secure the red block, transfer it away from the small world globe, and drop it onto the blue pad.",
+    "Left arm grips red block, hands off away from the earth-shaped globe with black frame, right arm places on blue pad.",
+    "Pick the red block, keep the transfer away from the blue globe with colorful continents, and place it on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe featuring bright country colors, place on blue pad.",
+    "Use left arm to pick red block, avoid the blue globe with colorful continents during handoff, right arm place blue pad.",
+    "Pick up the red block, transfer it while staying clear of the compact globe with labeled countries, and place on blue pad.",
+    "Left arm take red block, keep the pass away from the colorful globe on black stand, right arm puts on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the blue globe, then places on blue pad.",
+    "Lift the red block, do a handover avoiding the small sphere showing earth map, then place it onto the blue pad.",
+    "Take the red block from the table, hand over away from the globe featuring bright country colors, drop on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe featuring bright country colors, set on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the small world globe, then place on blue pad.",
+    "Grab red block, pass it along a path clear of the blue sphere with countries marked, place onto blue pad.",
+    "Take the red block from the table, pass it clear of the globe sitting on curved black base, and put it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the globe with curved black base, place on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the small sphere showing earth map, place blue pad.",
+    "Left arm grabs red block, right arm receives it away from the blue globe, then sets it on blue pad.",
+    "Left arm lifts red block, handover away from the small sphere showing earth map, right arm sets it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the earth-shaped globe with black frame, then place on blue pad.",
+    "Lift the red block, hand it across away from the small sphere showing earth map, then place it on blue pad.",
+    "Secure the red block, transfer it away from the colorful globe on black stand, and drop it onto the blue pad.",
+    "Left arm grips red block, hands off away from the globe featuring bright country colors, right arm places on blue pad.",
+    "Pick the red block, keep the transfer away from the blue globe, and place it on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe featuring bright country colors, place on blue pad.",
+    "Use left arm to pick red block, avoid the globe featuring bright country colors during handoff, right arm place blue pad.",
+    "Pick up the red block, transfer it while staying clear of the hand-sized globe on sturdy stand, and place on blue pad.",
+    "Left arm take red block, keep the pass away from the small sphere showing earth map, right arm puts on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the blue globe, then places on blue pad.",
+    "Lift the red block, do a handover avoiding the earth-shaped globe with black frame, then place it onto the blue pad.",
+    "Take the red block from the table, hand over away from the blue globe, drop on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the small world globe, set on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe sitting on curved black base, then place on blue pad.",
+    "Grab red block, pass it along a path clear of the earth-shaped globe with black frame, place onto blue pad.",
+    "Take the red block from the table, pass it clear of the globe featuring bright country colors, and put it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the hand-sized globe on sturdy stand, place on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe featuring bright country colors, place blue pad.",
+    "Left arm grabs red block, right arm receives it away from the earth-shaped globe with black frame, then sets it on blue pad.",
+    "Left arm lifts red block, handover away from the small sphere showing earth map, right arm sets it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the globe with curved black base, then place on blue pad.",
+    "Lift the red block, hand it across away from the hand-sized globe on sturdy stand, then place it on blue pad.",
+    "Secure the red block, transfer it away from the blue globe with colorful continents, and drop it onto the blue pad.",
+    "Left arm grips red block, hands off away from the blue sphere with countries marked, right arm places on blue pad.",
+    "Pick the red block, keep the transfer away from the globe with curved black base, and place it on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the earth-shaped globe with black frame, place on blue pad.",
+    "Use left arm to pick red block, avoid the blue globe during handoff, right arm place blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe with curved black base, and place on blue pad.",
+    "Left arm take red block, keep the pass away from the globe featuring bright country colors, right arm puts on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the small world globe, then places on blue pad.",
+    "Lift the red block, do a handover avoiding the small world globe, then place it onto the blue pad.",
+    "Take the red block from the table, hand over away from the compact globe with labeled countries, drop on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the small sphere showing earth map, set on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the small world globe, then place on blue pad.",
+    "Grab red block, pass it along a path clear of the colorful globe on black stand, place onto blue pad.",
+    "Take the red block from the table, pass it clear of the globe with curved black base, and put it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the earth-shaped globe with black frame, place on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe with curved black base, place blue pad.",
+    "Left arm grabs red block, right arm receives it away from the earth-shaped globe with black frame, then sets it on blue pad.",
+    "Left arm lifts red block, handover away from the hand-sized globe on sturdy stand, right arm sets it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the blue sphere with countries marked, then place on blue pad.",
+    "Lift the red block, hand it across away from the globe sitting on curved black base, then place it on blue pad.",
+    "Secure the red block, transfer it away from the blue globe with colorful continents, and drop it onto the blue pad."
+  ],
+  "unseen": [
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad."
+  ]
+}
\ No newline at end of file
diff --git a/handover_block_wp1/handover_block_wp1/instructions/episode83.json b/handover_block_wp1/handover_block_wp1/instructions/episode83.json
new file mode 100644
index 0000000000000000000000000000000000000000..7aa3c61e7a699c898c4d4b5f98f981947b8a5f77
--- /dev/null
+++ b/handover_block_wp1/handover_block_wp1/instructions/episode83.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use left arm to grasp red block, pass to right arm away from the round globe with sturdy base, set on blue pad.",
+    "Take the red block from the table, hand over away from the brown globe on black stand, drop on blue pad.",
+    "Secure the red block, transfer it away from the spinning brown globe, and drop it onto the blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the smooth beige globe with continents, place on blue pad.",
+    "Left arm grips red block, hands off away from the globe for geographic reference, right arm places on blue pad.",
+    "Grab red block, pass it along a path clear of the round Earth globe, place onto blue pad.",
+    "Use left arm to pick red block, avoid the brown globe on black stand during handoff, right arm place blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the Earth map globe, then place on blue pad.",
+    "Lift the red block, hand it across away from the Earth map globe, then place it on blue pad.",
+    "Left arm lifts red block, handover away from the beige and brown globe, right arm sets it on blue pad.",
+    "Left arm take red block, keep the pass away from the globe for geographic reference, right arm puts on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe for geographic reference, place blue pad.",
+    "Left arm grabs red block, right arm receives it away from the globe with curved black stand, then sets it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe with curved black stand, then places on blue pad.",
+    "Take the red block from the table, pass it clear of the wooden globe with metal base, and put it on blue pad.",
+    "Lift the red block, do a handover avoiding the round globe with sturdy base, then place it onto the blue pad.",
+    "Pick the red block, keep the transfer away from the round Earth globe, and place it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the globe with smooth surface, place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the round Earth globe, and place on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the globe with smooth surface, then place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the wooden globe with metal base, set on blue pad.",
+    "Take the red block from the table, hand over away from the smooth beige globe with continents, drop on blue pad.",
+    "Secure the red block, transfer it away from the beige and brown globe, and drop it onto the blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe with smooth surface, place on blue pad.",
+    "Left arm grips red block, hands off away from the round Earth globe, right arm places on blue pad.",
+    "Grab red block, pass it along a path clear of the spinning brown globe, place onto blue pad.",
+    "Use left arm to pick red block, avoid the globe for geographic reference during handoff, right arm place blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the Earth map globe, then place on blue pad.",
+    "Lift the red block, hand it across away from the globe with curved black stand, then place it on blue pad.",
+    "Left arm lifts red block, handover away from the wooden globe with metal base, right arm sets it on blue pad.",
+    "Left arm take red block, keep the pass away from the smooth beige globe with continents, right arm puts on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the brown globe on black stand, place blue pad.",
+    "Left arm grabs red block, right arm receives it away from the globe with curved black stand, then sets it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe with curved black stand, then places on blue pad.",
+    "Take the red block from the table, pass it clear of the Earth map globe, and put it on blue pad.",
+    "Lift the red block, do a handover avoiding the globe with curved black stand, then place it onto the blue pad.",
+    "Pick the red block, keep the transfer away from the round Earth globe, and place it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the decor piece globe, place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe with curved black stand, and place on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the decor piece globe, then place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe with curved black stand, set on blue pad.",
+    "Take the red block from the table, hand over away from the brown globe on black stand, drop on blue pad.",
+    "Secure the red block, transfer it away from the decor piece globe, and drop it onto the blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe with smooth surface, place on blue pad.",
+    "Left arm grips red block, hands off away from the Earth map globe, right arm places on blue pad.",
+    "Grab red block, pass it along a path clear of the decor piece globe, place onto blue pad.",
+    "Use left arm to pick red block, avoid the Earth map globe during handoff, right arm place blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the beige and brown globe, then place on blue pad.",
+    "Lift the red block, hand it across away from the round Earth globe, then place it on blue pad.",
+    "Left arm lifts red block, handover away from the decor piece globe, right arm sets it on blue pad.",
+    "Left arm take red block, keep the pass away from the brown globe on black stand, right arm puts on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the smooth beige globe with continents, place blue pad.",
+    "Left arm grabs red block, right arm receives it away from the wooden globe with metal base, then sets it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe with curved black stand, then places on blue pad.",
+    "Take the red block from the table, pass it clear of the wooden globe with metal base, and put it on blue pad.",
+    "Lift the red block, do a handover avoiding the smooth beige globe with continents, then place it onto the blue pad.",
+    "Pick the red block, keep the transfer away from the round Earth globe, and place it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the smooth beige globe with continents, place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the beige and brown globe, and place on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the wooden globe with metal base, then place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the wooden globe with metal base, set on blue pad.",
+    "Take the red block from the table, hand over away from the beige and brown globe, drop on blue pad.",
+    "Secure the red block, transfer it away from the spinning brown globe, and drop it onto the blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the decor piece globe, place on blue pad.",
+    "Left arm grips red block, hands off away from the beige and brown globe, right arm places on blue pad.",
+    "Grab red block, pass it along a path clear of the smooth beige globe with continents, place onto blue pad.",
+    "Use left arm to pick red block, avoid the globe with smooth surface during handoff, right arm place blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the beige and brown globe, then place on blue pad.",
+    "Lift the red block, hand it across away from the globe for geographic reference, then place it on blue pad.",
+    "Left arm lifts red block, handover away from the smooth beige globe with continents, right arm sets it on blue pad.",
+    "Left arm take red block, keep the pass away from the globe with curved black stand, right arm puts on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the spinning brown globe, place blue pad.",
+    "Left arm grabs red block, right arm receives it away from the globe for geographic reference, then sets it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the round globe with sturdy base, then places on blue pad.",
+    "Take the red block from the table, pass it clear of the smooth beige globe with continents, and put it on blue pad.",
+    "Lift the red block, do a handover avoiding the globe for geographic reference, then place it onto the blue pad.",
+    "Pick the red block, keep the transfer away from the globe with smooth surface, and place it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the spinning brown globe, place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the Earth map globe, and place on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the wooden globe with metal base, then place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the round globe with sturdy base, set on blue pad.",
+    "Take the red block from the table, hand over away from the globe with smooth surface, drop on blue pad.",
+    "Secure the red block, transfer it away from the round globe with sturdy base, and drop it onto the blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the round Earth globe, place on blue pad.",
+    "Left arm grips red block, hands off away from the spinning brown globe, right arm places on blue pad.",
+    "Grab red block, pass it along a path clear of the round Earth globe, place onto blue pad.",
+    "Use left arm to pick red block, avoid the spinning brown globe during handoff, right arm place blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the wooden globe with metal base, then place on blue pad.",
+    "Lift the red block, hand it across away from the Earth map globe, then place it on blue pad.",
+    "Left arm lifts red block, handover away from the wooden globe with metal base, right arm sets it on blue pad.",
+    "Left arm take red block, keep the pass away from the round globe with sturdy base, right arm puts on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the wooden globe with metal base, place blue pad.",
+    "Left arm grabs red block, right arm receives it away from the globe with curved black stand, then sets it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the round globe with sturdy base, then places on blue pad.",
+    "Take the red block from the table, pass it clear of the brown globe on black stand, and put it on blue pad.",
+    "Lift the red block, do a handover avoiding the brown globe on black stand, then place it onto the blue pad.",
+    "Pick the red block, keep the transfer away from the round Earth globe, and place it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the globe for geographic reference, place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the decor piece globe, and place on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the spinning brown globe, then place on blue pad."
+  ],
+  "unseen": [
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad."
+  ]
+}
\ No newline at end of file
diff --git a/handover_block_wp1/handover_block_wp1/instructions/episode84.json b/handover_block_wp1/handover_block_wp1/instructions/episode84.json
new file mode 100644
index 0000000000000000000000000000000000000000..1a5ab268f754ffebb377e77533df9931665d4fae
--- /dev/null
+++ b/handover_block_wp1/handover_block_wp1/instructions/episode84.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use left arm to grasp red block, pass to right arm away from the compact globe with labeled countries, set on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the colorful globe on black stand, place on blue pad.",
+    "Left arm grips red block, hands off away from the small world globe, right arm places on blue pad.",
+    "Left arm take red block, keep the pass away from the globe featuring bright country colors, right arm puts on blue pad.",
+    "Lift the red block, do a handover avoiding the blue globe, then place it onto the blue pad.",
+    "Grab red block, pass it along a path clear of the earth-shaped globe with black frame, place onto blue pad.",
+    "Pick the red block, hand it over while keeping clear of the blue globe with colorful continents, then place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the small sphere showing earth map, and place on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the colorful globe on black stand, place blue pad.",
+    "Take the red block from the table, hand over away from the colorful globe on black stand, drop on blue pad.",
+    "Grab the red block, transfer it while steering clear of the globe featuring bright country colors, place on blue pad.",
+    "Take the red block from the table, pass it clear of the globe sitting on curved black base, and put it on blue pad.",
+    "Pick the red block, keep the transfer away from the blue globe, and place it on blue pad.",
+    "Lift the red block, hand it across away from the blue globe, then place it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the compact globe with labeled countries, then place on blue pad.",
+    "Left arm lifts red block, handover away from the earth-shaped globe with black frame, right arm sets it on blue pad.",
+    "Use left arm to pick red block, avoid the compact globe with labeled countries during handoff, right arm place blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the earth-shaped globe with black frame, then places on blue pad.",
+    "Secure the red block, transfer it away from the compact globe with labeled countries, and drop it onto the blue pad.",
+    "Left arm grabs red block, right arm receives it away from the compact globe with labeled countries, then sets it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the blue sphere with countries marked, set on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the earth-shaped globe with black frame, place on blue pad.",
+    "Left arm grips red block, hands off away from the blue sphere with countries marked, right arm places on blue pad.",
+    "Left arm take red block, keep the pass away from the globe featuring bright country colors, right arm puts on blue pad.",
+    "Lift the red block, do a handover avoiding the blue sphere with countries marked, then place it onto the blue pad.",
+    "Grab red block, pass it along a path clear of the blue globe with colorful continents, place onto blue pad.",
+    "Pick the red block, hand it over while keeping clear of the globe with curved black base, then place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe featuring bright country colors, and place on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe sitting on curved black base, place blue pad.",
+    "Take the red block from the table, hand over away from the earth-shaped globe with black frame, drop on blue pad.",
+    "Grab the red block, transfer it while steering clear of the small world globe, place on blue pad.",
+    "Take the red block from the table, pass it clear of the hand-sized globe on sturdy stand, and put it on blue pad.",
+    "Pick the red block, keep the transfer away from the compact globe with labeled countries, and place it on blue pad.",
+    "Lift the red block, hand it across away from the small world globe, then place it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the compact globe with labeled countries, then place on blue pad.",
+    "Left arm lifts red block, handover away from the globe with curved black base, right arm sets it on blue pad.",
+    "Use left arm to pick red block, avoid the globe with curved black base during handoff, right arm place blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe with curved black base, then places on blue pad.",
+    "Secure the red block, transfer it away from the colorful globe on black stand, and drop it onto the blue pad.",
+    "Left arm grabs red block, right arm receives it away from the small world globe, then sets it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe with curved black base, set on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the compact globe with labeled countries, place on blue pad.",
+    "Left arm grips red block, hands off away from the globe sitting on curved black base, right arm places on blue pad.",
+    "Left arm take red block, keep the pass away from the compact globe with labeled countries, right arm puts on blue pad.",
+    "Lift the red block, do a handover avoiding the earth-shaped globe with black frame, then place it onto the blue pad.",
+    "Grab red block, pass it along a path clear of the blue sphere with countries marked, place onto blue pad.",
+    "Pick the red block, hand it over while keeping clear of the small world globe, then place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe with curved black base, and place on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe with curved black base, place blue pad.",
+    "Take the red block from the table, hand over away from the globe with curved black base, drop on blue pad.",
+    "Grab the red block, transfer it while steering clear of the blue sphere with countries marked, place on blue pad.",
+    "Take the red block from the table, pass it clear of the earth-shaped globe with black frame, and put it on blue pad.",
+    "Pick the red block, keep the transfer away from the blue globe, and place it on blue pad.",
+    "Lift the red block, hand it across away from the small world globe, then place it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the small sphere showing earth map, then place on blue pad.",
+    "Left arm lifts red block, handover away from the hand-sized globe on sturdy stand, right arm sets it on blue pad.",
+    "Use left arm to pick red block, avoid the globe featuring bright country colors during handoff, right arm place blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe sitting on curved black base, then places on blue pad.",
+    "Secure the red block, transfer it away from the colorful globe on black stand, and drop it onto the blue pad.",
+    "Left arm grabs red block, right arm receives it away from the small world globe, then sets it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the blue sphere with countries marked, set on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the blue globe with colorful continents, place on blue pad.",
+    "Left arm grips red block, hands off away from the earth-shaped globe with black frame, right arm places on blue pad.",
+    "Left arm take red block, keep the pass away from the globe featuring bright country colors, right arm puts on blue pad.",
+    "Lift the red block, do a handover avoiding the globe sitting on curved black base, then place it onto the blue pad.",
+    "Grab red block, pass it along a path clear of the globe with curved black base, place onto blue pad.",
+    "Pick the red block, hand it over while keeping clear of the hand-sized globe on sturdy stand, then place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe sitting on curved black base, and place on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the blue globe with colorful continents, place blue pad.",
+    "Take the red block from the table, hand over away from the compact globe with labeled countries, drop on blue pad.",
+    "Grab the red block, transfer it while steering clear of the earth-shaped globe with black frame, place on blue pad.",
+    "Take the red block from the table, pass it clear of the small world globe, and put it on blue pad.",
+    "Pick the red block, keep the transfer away from the globe sitting on curved black base, and place it on blue pad.",
+    "Lift the red block, hand it across away from the compact globe with labeled countries, then place it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the blue sphere with countries marked, then place on blue pad.",
+    "Left arm lifts red block, handover away from the globe with curved black base, right arm sets it on blue pad.",
+    "Use left arm to pick red block, avoid the blue globe during handoff, right arm place blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe with curved black base, then places on blue pad.",
+    "Secure the red block, transfer it away from the small world globe, and drop it onto the blue pad.",
+    "Left arm grabs red block, right arm receives it away from the hand-sized globe on sturdy stand, then sets it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe sitting on curved black base, set on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the earth-shaped globe with black frame, place on blue pad.",
+    "Left arm grips red block, hands off away from the blue globe with colorful continents, right arm places on blue pad.",
+    "Left arm take red block, keep the pass away from the earth-shaped globe with black frame, right arm puts on blue pad.",
+    "Lift the red block, do a handover avoiding the blue globe with colorful continents, then place it onto the blue pad.",
+    "Grab red block, pass it along a path clear of the globe with curved black base, place onto blue pad.",
+    "Pick the red block, hand it over while keeping clear of the blue sphere with countries marked, then place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the earth-shaped globe with black frame, and place on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the small world globe, place blue pad.",
+    "Take the red block from the table, hand over away from the earth-shaped globe with black frame, drop on blue pad.",
+    "Grab the red block, transfer it while steering clear of the blue sphere with countries marked, place on blue pad.",
+    "Take the red block from the table, pass it clear of the hand-sized globe on sturdy stand, and put it on blue pad.",
+    "Pick the red block, keep the transfer away from the small sphere showing earth map, and place it on blue pad.",
+    "Lift the red block, hand it across away from the globe sitting on curved black base, then place it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the blue sphere with countries marked, then place on blue pad.",
+    "Left arm lifts red block, handover away from the compact globe with labeled countries, right arm sets it on blue pad.",
+    "Use left arm to pick red block, avoid the compact globe with labeled countries during handoff, right arm place blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the compact globe with labeled countries, then places on blue pad.",
+    "Secure the red block, transfer it away from the globe sitting on curved black base, and drop it onto the blue pad.",
+    "Left arm grabs red block, right arm receives it away from the hand-sized globe on sturdy stand, then sets it on blue pad."
+  ],
+  "unseen": [
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad."
+  ]
+}
\ No newline at end of file
diff --git a/handover_block_wp1/handover_block_wp1/instructions/episode85.json b/handover_block_wp1/handover_block_wp1/instructions/episode85.json
new file mode 100644
index 0000000000000000000000000000000000000000..87b17f9a9220d828c189db7cc89bcd95d3c4db1d
--- /dev/null
+++ b/handover_block_wp1/handover_block_wp1/instructions/episode85.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use left arm to grasp red block, pass to right arm away from the blue globe, set on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the earth-shaped globe with black frame, then sets it on blue pad.",
+    "Left arm lifts red block, handover away from the blue globe, right arm sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the compact globe with labeled countries, place blue pad.",
+    "Grab red block, pass it along a path clear of the small sphere showing earth map, place onto blue pad.",
+    "Secure the red block, transfer it away from the blue sphere with countries marked, and drop it onto the blue pad.",
+    "Use left arm to pick red block, avoid the blue globe with colorful continents during handoff, right arm place blue pad.",
+    "Lift the red block, do a handover avoiding the blue globe, then place it onto the blue pad.",
+    "Take the red block from the table, hand over away from the small world globe, drop on blue pad.",
+    "Grab the red block, transfer it while steering clear of the earth-shaped globe with black frame, place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the blue globe with colorful continents, place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe sitting on curved black base, and place on blue pad.",
+    "Take the red block from the table, pass it clear of the earth-shaped globe with black frame, and put it on blue pad.",
+    "Left arm grips red block, hands off away from the globe sitting on curved black base, right arm places on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the hand-sized globe on sturdy stand, then place on blue pad.",
+    "Pick the red block, keep the transfer away from the hand-sized globe on sturdy stand, and place it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the blue globe, then places on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the earth-shaped globe with black frame, then place on blue pad.",
+    "Left arm take red block, keep the pass away from the blue globe, right arm puts on blue pad.",
+    "Lift the red block, hand it across away from the globe with curved black base, then place it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the small sphere showing earth map, set on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the hand-sized globe on sturdy stand, then sets it on blue pad.",
+    "Left arm lifts red block, handover away from the globe featuring bright country colors, right arm sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the hand-sized globe on sturdy stand, place blue pad.",
+    "Grab red block, pass it along a path clear of the small world globe, place onto blue pad.",
+    "Secure the red block, transfer it away from the compact globe with labeled countries, and drop it onto the blue pad.",
+    "Use left arm to pick red block, avoid the blue globe during handoff, right arm place blue pad.",
+    "Lift the red block, do a handover avoiding the blue globe, then place it onto the blue pad.",
+    "Take the red block from the table, hand over away from the blue globe, drop on blue pad.",
+    "Grab the red block, transfer it while steering clear of the blue globe with colorful continents, place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the compact globe with labeled countries, place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the compact globe with labeled countries, and place on blue pad.",
+    "Take the red block from the table, pass it clear of the globe featuring bright country colors, and put it on blue pad.",
+    "Left arm grips red block, hands off away from the blue globe, right arm places on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the hand-sized globe on sturdy stand, then place on blue pad.",
+    "Pick the red block, keep the transfer away from the earth-shaped globe with black frame, and place it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the small world globe, then places on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the small world globe, then place on blue pad.",
+    "Left arm take red block, keep the pass away from the earth-shaped globe with black frame, right arm puts on blue pad.",
+    "Lift the red block, hand it across away from the small sphere showing earth map, then place it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the blue globe with colorful continents, set on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the earth-shaped globe with black frame, then sets it on blue pad.",
+    "Left arm lifts red block, handover away from the blue sphere with countries marked, right arm sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the compact globe with labeled countries, place blue pad.",
+    "Grab red block, pass it along a path clear of the globe featuring bright country colors, place onto blue pad.",
+    "Secure the red block, transfer it away from the globe sitting on curved black base, and drop it onto the blue pad.",
+    "Use left arm to pick red block, avoid the blue sphere with countries marked during handoff, right arm place blue pad.",
+    "Lift the red block, do a handover avoiding the globe sitting on curved black base, then place it onto the blue pad.",
+    "Take the red block from the table, hand over away from the globe with curved black base, drop on blue pad.",
+    "Grab the red block, transfer it while steering clear of the globe featuring bright country colors, place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the small sphere showing earth map, place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the blue sphere with countries marked, and place on blue pad.",
+    "Take the red block from the table, pass it clear of the globe with curved black base, and put it on blue pad.",
+    "Left arm grips red block, hands off away from the small world globe, right arm places on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the compact globe with labeled countries, then place on blue pad.",
+    "Pick the red block, keep the transfer away from the compact globe with labeled countries, and place it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the colorful globe on black stand, then places on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the blue sphere with countries marked, then place on blue pad.",
+    "Left arm take red block, keep the pass away from the small world globe, right arm puts on blue pad.",
+    "Lift the red block, hand it across away from the blue sphere with countries marked, then place it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the blue sphere with countries marked, set on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the compact globe with labeled countries, then sets it on blue pad.",
+    "Left arm lifts red block, handover away from the earth-shaped globe with black frame, right arm sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the blue globe with colorful continents, place blue pad.",
+    "Grab red block, pass it along a path clear of the earth-shaped globe with black frame, place onto blue pad.",
+    "Secure the red block, transfer it away from the globe with curved black base, and drop it onto the blue pad.",
+    "Use left arm to pick red block, avoid the small sphere showing earth map during handoff, right arm place blue pad.",
+    "Lift the red block, do a handover avoiding the blue globe with colorful continents, then place it onto the blue pad.",
+    "Take the red block from the table, hand over away from the earth-shaped globe with black frame, drop on blue pad.",
+    "Grab the red block, transfer it while steering clear of the hand-sized globe on sturdy stand, place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the colorful globe on black stand, place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the blue globe, and place on blue pad.",
+    "Take the red block from the table, pass it clear of the globe featuring bright country colors, and put it on blue pad.",
+    "Left arm grips red block, hands off away from the globe sitting on curved black base, right arm places on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the small sphere showing earth map, then place on blue pad.",
+    "Pick the red block, keep the transfer away from the colorful globe on black stand, and place it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the colorful globe on black stand, then places on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the earth-shaped globe with black frame, then place on blue pad.",
+    "Left arm take red block, keep the pass away from the earth-shaped globe with black frame, right arm puts on blue pad.",
+    "Lift the red block, hand it across away from the colorful globe on black stand, then place it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe sitting on curved black base, set on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the blue sphere with countries marked, then sets it on blue pad.",
+    "Left arm lifts red block, handover away from the small world globe, right arm sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the small world globe, place blue pad.",
+    "Grab red block, pass it along a path clear of the compact globe with labeled countries, place onto blue pad.",
+    "Secure the red block, transfer it away from the compact globe with labeled countries, and drop it onto the blue pad.",
+    "Use left arm to pick red block, avoid the globe featuring bright country colors during handoff, right arm place blue pad.",
+    "Lift the red block, do a handover avoiding the globe sitting on curved black base, then place it onto the blue pad.",
+    "Take the red block from the table, hand over away from the earth-shaped globe with black frame, drop on blue pad.",
+    "Grab the red block, transfer it while steering clear of the earth-shaped globe with black frame, place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the blue sphere with countries marked, place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the compact globe with labeled countries, and place on blue pad.",
+    "Take the red block from the table, pass it clear of the earth-shaped globe with black frame, and put it on blue pad.",
+    "Left arm grips red block, hands off away from the earth-shaped globe with black frame, right arm places on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the colorful globe on black stand, then place on blue pad.",
+    "Pick the red block, keep the transfer away from the blue globe, and place it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe sitting on curved black base, then places on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the compact globe with labeled countries, then place on blue pad.",
+    "Left arm take red block, keep the pass away from the compact globe with labeled countries, right arm puts on blue pad.",
+    "Lift the red block, hand it across away from the globe with curved black base, then place it on blue pad."
+  ],
+  "unseen": [
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad."
+  ]
+}
\ No newline at end of file
diff --git a/handover_block_wp1/handover_block_wp1/instructions/episode86.json b/handover_block_wp1/handover_block_wp1/instructions/episode86.json
new file mode 100644
index 0000000000000000000000000000000000000000..3f00f0493359fe4bda2563202b9dc0fe87672a87
--- /dev/null
+++ b/handover_block_wp1/handover_block_wp1/instructions/episode86.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With left arm, lift red block, hand to right arm away from the globe featuring bright country colors, place blue pad.",
+    "Pick the red block, keep the transfer away from the blue globe with colorful continents, and place it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the blue sphere with countries marked, set on blue pad.",
+    "Left arm take red block, keep the pass away from the globe with curved black base, right arm puts on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the compact globe with labeled countries, then sets it on blue pad.",
+    "Use left arm to pick red block, avoid the globe featuring bright country colors during handoff, right arm place blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the blue globe with colorful continents, then places on blue pad.",
+    "Take the red block from the table, pass it clear of the blue globe, and put it on blue pad.",
+    "Secure the red block, transfer it away from the blue globe, and drop it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the blue globe with colorful continents, then place on blue pad.",
+    "Lift the red block, do a handover avoiding the globe with curved black base, then place it onto the blue pad.",
+    "Grab the red block, transfer it while steering clear of the colorful globe on black stand, place on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the small sphere showing earth map, then place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the blue globe, and place on blue pad.",
+    "Take the red block from the table, hand over away from the small sphere showing earth map, drop on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the small sphere showing earth map, place on blue pad.",
+    "Grab red block, pass it along a path clear of the globe with curved black base, place onto blue pad.",
+    "Left arm grips red block, hands off away from the globe with curved black base, right arm places on blue pad.",
+    "Lift the red block, hand it across away from the globe with curved black base, then place it on blue pad.",
+    "Left arm lifts red block, handover away from the earth-shaped globe with black frame, right arm sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the hand-sized globe on sturdy stand, place blue pad.",
+    "Pick the red block, keep the transfer away from the compact globe with labeled countries, and place it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the hand-sized globe on sturdy stand, set on blue pad.",
+    "Left arm take red block, keep the pass away from the globe sitting on curved black base, right arm puts on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the blue globe with colorful continents, then sets it on blue pad.",
+    "Use left arm to pick red block, avoid the compact globe with labeled countries during handoff, right arm place blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the blue sphere with countries marked, then places on blue pad.",
+    "Take the red block from the table, pass it clear of the blue globe, and put it on blue pad.",
+    "Secure the red block, transfer it away from the globe featuring bright country colors, and drop it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe with curved black base, then place on blue pad.",
+    "Lift the red block, do a handover avoiding the compact globe with labeled countries, then place it onto the blue pad.",
+    "Grab the red block, transfer it while steering clear of the small world globe, place on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the small sphere showing earth map, then place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the compact globe with labeled countries, and place on blue pad.",
+    "Take the red block from the table, hand over away from the colorful globe on black stand, drop on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the blue sphere with countries marked, place on blue pad.",
+    "Grab red block, pass it along a path clear of the hand-sized globe on sturdy stand, place onto blue pad.",
+    "Left arm grips red block, hands off away from the blue globe with colorful continents, right arm places on blue pad.",
+    "Lift the red block, hand it across away from the small world globe, then place it on blue pad.",
+    "Left arm lifts red block, handover away from the globe sitting on curved black base, right arm sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe with curved black base, place blue pad.",
+    "Pick the red block, keep the transfer away from the globe with curved black base, and place it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe sitting on curved black base, set on blue pad.",
+    "Left arm take red block, keep the pass away from the globe sitting on curved black base, right arm puts on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the colorful globe on black stand, then sets it on blue pad.",
+    "Use left arm to pick red block, avoid the colorful globe on black stand during handoff, right arm place blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe featuring bright country colors, then places on blue pad.",
+    "Take the red block from the table, pass it clear of the compact globe with labeled countries, and put it on blue pad.",
+    "Secure the red block, transfer it away from the blue globe, and drop it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the earth-shaped globe with black frame, then place on blue pad.",
+    "Lift the red block, do a handover avoiding the globe featuring bright country colors, then place it onto the blue pad.",
+    "Grab the red block, transfer it while steering clear of the colorful globe on black stand, place on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the hand-sized globe on sturdy stand, then place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe featuring bright country colors, and place on blue pad.",
+    "Take the red block from the table, hand over away from the hand-sized globe on sturdy stand, drop on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the colorful globe on black stand, place on blue pad.",
+    "Grab red block, pass it along a path clear of the blue sphere with countries marked, place onto blue pad.",
+    "Left arm grips red block, hands off away from the blue sphere with countries marked, right arm places on blue pad.",
+    "Lift the red block, hand it across away from the hand-sized globe on sturdy stand, then place it on blue pad.",
+    "Left arm lifts red block, handover away from the small world globe, right arm sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the blue globe with colorful continents, place blue pad.",
+    "Pick the red block, keep the transfer away from the blue globe with colorful continents, and place it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the blue globe with colorful continents, set on blue pad.",
+    "Left arm take red block, keep the pass away from the blue globe, right arm puts on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the globe featuring bright country colors, then sets it on blue pad.",
+    "Use left arm to pick red block, avoid the blue globe with colorful continents during handoff, right arm place blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the blue globe, then places on blue pad.",
+    "Take the red block from the table, pass it clear of the colorful globe on black stand, and put it on blue pad.",
+    "Secure the red block, transfer it away from the earth-shaped globe with black frame, and drop it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the compact globe with labeled countries, then place on blue pad.",
+    "Lift the red block, do a handover avoiding the blue sphere with countries marked, then place it onto the blue pad.",
+    "Grab the red block, transfer it while steering clear of the small sphere showing earth map, place on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the earth-shaped globe with black frame, then place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the earth-shaped globe with black frame, and place on blue pad.",
+    "Take the red block from the table, hand over away from the earth-shaped globe with black frame, drop on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the small sphere showing earth map, place on blue pad.",
+    "Grab red block, pass it along a path clear of the blue sphere with countries marked, place onto blue pad.",
+    "Left arm grips red block, hands off away from the blue sphere with countries marked, right arm places on blue pad.",
+    "Lift the red block, hand it across away from the compact globe with labeled countries, then place it on blue pad.",
+    "Left arm lifts red block, handover away from the globe sitting on curved black base, right arm sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the blue globe, place blue pad.",
+    "Pick the red block, keep the transfer away from the blue globe, and place it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe featuring bright country colors, set on blue pad.",
+    "Left arm take red block, keep the pass away from the blue globe, right arm puts on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the small sphere showing earth map, then sets it on blue pad.",
+    "Use left arm to pick red block, avoid the hand-sized globe on sturdy stand during handoff, right arm place blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe featuring bright country colors, then places on blue pad.",
+    "Take the red block from the table, pass it clear of the earth-shaped globe with black frame, and put it on blue pad.",
+    "Secure the red block, transfer it away from the globe with curved black base, and drop it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the blue globe, then place on blue pad.",
+    "Lift the red block, do a handover avoiding the small sphere showing earth map, then place it onto the blue pad.",
+    "Grab the red block, transfer it while steering clear of the small world globe, place on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the blue globe with colorful continents, then place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the earth-shaped globe with black frame, and place on blue pad.",
+    "Take the red block from the table, hand over away from the blue sphere with countries marked, drop on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe with curved black base, place on blue pad.",
+    "Grab red block, pass it along a path clear of the hand-sized globe on sturdy stand, place onto blue pad.",
+    "Left arm grips red block, hands off away from the colorful globe on black stand, right arm places on blue pad.",
+    "Lift the red block, hand it across away from the globe with curved black base, then place it on blue pad.",
+    "Left arm lifts red block, handover away from the blue sphere with countries marked, right arm sets it on blue pad."
+  ],
+  "unseen": [
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad."
+  ]
+}
\ No newline at end of file
diff --git a/handover_block_wp1/handover_block_wp1/instructions/episode87.json b/handover_block_wp1/handover_block_wp1/instructions/episode87.json
new file mode 100644
index 0000000000000000000000000000000000000000..8c23ada7451fe474e0f0c7da2b99a3963a571448
--- /dev/null
+++ b/handover_block_wp1/handover_block_wp1/instructions/episode87.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the red block, keep the transfer away from the small sphere showing earth map, and place it on blue pad.",
+    "Use left arm to pick red block, avoid the blue globe during handoff, right arm place blue pad.",
+    "Secure the red block, transfer it away from the globe sitting on curved black base, and drop it onto the blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the blue sphere with countries marked, then places on blue pad.",
+    "Left arm take red block, keep the pass away from the globe sitting on curved black base, right arm puts on blue pad.",
+    "Left arm lifts red block, handover away from the blue globe, right arm sets it on blue pad.",
+    "Lift the red block, do a handover avoiding the blue globe with colorful continents, then place it onto the blue pad.",
+    "Pick the red block, hand it over while keeping clear of the blue globe with colorful continents, then place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the compact globe with labeled countries, and place on blue pad.",
+    "Take the red block from the table, pass it clear of the globe featuring bright country colors, and put it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the earth-shaped globe with black frame, then sets it on blue pad.",
+    "Left arm grips red block, hands off away from the small sphere showing earth map, right arm places on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the small world globe, then place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the earth-shaped globe with black frame, set on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the compact globe with labeled countries, place blue pad.",
+    "Take the red block from the table, hand over away from the blue globe, drop on blue pad.",
+    "Grab red block, pass it along a path clear of the blue sphere with countries marked, place onto blue pad.",
+    "Grab the red block, transfer it while steering clear of the earth-shaped globe with black frame, place on blue pad.",
+    "Lift the red block, hand it across away from the globe sitting on curved black base, then place it on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the small sphere showing earth map, place on blue pad.",
+    "Pick the red block, keep the transfer away from the earth-shaped globe with black frame, and place it on blue pad.",
+    "Use left arm to pick red block, avoid the small sphere showing earth map during handoff, right arm place blue pad.",
+    "Secure the red block, transfer it away from the blue sphere with countries marked, and drop it onto the blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe featuring bright country colors, then places on blue pad.",
+    "Left arm take red block, keep the pass away from the small sphere showing earth map, right arm puts on blue pad.",
+    "Left arm lifts red block, handover away from the hand-sized globe on sturdy stand, right arm sets it on blue pad.",
+    "Lift the red block, do a handover avoiding the compact globe with labeled countries, then place it onto the blue pad.",
+    "Pick the red block, hand it over while keeping clear of the colorful globe on black stand, then place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the blue globe, and place on blue pad.",
+    "Take the red block from the table, pass it clear of the compact globe with labeled countries, and put it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the blue globe with colorful continents, then sets it on blue pad.",
+    "Left arm grips red block, hands off away from the colorful globe on black stand, right arm places on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the hand-sized globe on sturdy stand, then place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe featuring bright country colors, set on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the blue globe with colorful continents, place blue pad.",
+    "Take the red block from the table, hand over away from the blue globe with colorful continents, drop on blue pad.",
+    "Grab red block, pass it along a path clear of the small world globe, place onto blue pad.",
+    "Grab the red block, transfer it while steering clear of the blue globe with colorful continents, place on blue pad.",
+    "Lift the red block, hand it across away from the blue globe with colorful continents, then place it on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the earth-shaped globe with black frame, place on blue pad.",
+    "Pick the red block, keep the transfer away from the globe featuring bright country colors, and place it on blue pad.",
+    "Use left arm to pick red block, avoid the globe sitting on curved black base during handoff, right arm place blue pad.",
+    "Secure the red block, transfer it away from the small sphere showing earth map, and drop it onto the blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe featuring bright country colors, then places on blue pad.",
+    "Left arm take red block, keep the pass away from the blue globe, right arm puts on blue pad.",
+    "Left arm lifts red block, handover away from the small world globe, right arm sets it on blue pad.",
+    "Lift the red block, do a handover avoiding the blue globe with colorful continents, then place it onto the blue pad.",
+    "Pick the red block, hand it over while keeping clear of the globe sitting on curved black base, then place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the colorful globe on black stand, and place on blue pad.",
+    "Take the red block from the table, pass it clear of the compact globe with labeled countries, and put it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the compact globe with labeled countries, then sets it on blue pad.",
+    "Left arm grips red block, hands off away from the hand-sized globe on sturdy stand, right arm places on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the blue sphere with countries marked, then place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the earth-shaped globe with black frame, set on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe with curved black base, place blue pad.",
+    "Take the red block from the table, hand over away from the colorful globe on black stand, drop on blue pad.",
+    "Grab red block, pass it along a path clear of the earth-shaped globe with black frame, place onto blue pad.",
+    "Grab the red block, transfer it while steering clear of the blue globe with colorful continents, place on blue pad.",
+    "Lift the red block, hand it across away from the blue sphere with countries marked, then place it on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe featuring bright country colors, place on blue pad.",
+    "Pick the red block, keep the transfer away from the globe featuring bright country colors, and place it on blue pad.",
+    "Use left arm to pick red block, avoid the small world globe during handoff, right arm place blue pad.",
+    "Secure the red block, transfer it away from the blue sphere with countries marked, and drop it onto the blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the compact globe with labeled countries, then places on blue pad.",
+    "Left arm take red block, keep the pass away from the colorful globe on black stand, right arm puts on blue pad.",
+    "Left arm lifts red block, handover away from the compact globe with labeled countries, right arm sets it on blue pad.",
+    "Lift the red block, do a handover avoiding the globe sitting on curved black base, then place it onto the blue pad.",
+    "Pick the red block, hand it over while keeping clear of the compact globe with labeled countries, then place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the blue globe, and place on blue pad.",
+    "Take the red block from the table, pass it clear of the hand-sized globe on sturdy stand, and put it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the small world globe, then sets it on blue pad.",
+    "Left arm grips red block, hands off away from the earth-shaped globe with black frame, right arm places on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the small sphere showing earth map, then place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the blue globe with colorful continents, set on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the earth-shaped globe with black frame, place blue pad.",
+    "Take the red block from the table, hand over away from the small world globe, drop on blue pad.",
+    "Grab red block, pass it along a path clear of the blue globe, place onto blue pad.",
+    "Grab the red block, transfer it while steering clear of the blue sphere with countries marked, place on blue pad.",
+    "Lift the red block, hand it across away from the blue globe with colorful continents, then place it on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the blue globe, place on blue pad.",
+    "Pick the red block, keep the transfer away from the blue globe with colorful continents, and place it on blue pad.",
+    "Use left arm to pick red block, avoid the small world globe during handoff, right arm place blue pad.",
+    "Secure the red block, transfer it away from the earth-shaped globe with black frame, and drop it onto the blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the colorful globe on black stand, then places on blue pad.",
+    "Left arm take red block, keep the pass away from the blue globe, right arm puts on blue pad.",
+    "Left arm lifts red block, handover away from the compact globe with labeled countries, right arm sets it on blue pad.",
+    "Lift the red block, do a handover avoiding the globe sitting on curved black base, then place it onto the blue pad.",
+    "Pick the red block, hand it over while keeping clear of the small sphere showing earth map, then place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the blue globe, and place on blue pad.",
+    "Take the red block from the table, pass it clear of the globe sitting on curved black base, and put it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the colorful globe on black stand, then sets it on blue pad.",
+    "Left arm grips red block, hands off away from the blue sphere with countries marked, right arm places on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the blue globe with colorful continents, then place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe featuring bright country colors, set on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the hand-sized globe on sturdy stand, place blue pad.",
+    "Take the red block from the table, hand over away from the blue globe with colorful continents, drop on blue pad.",
+    "Grab red block, pass it along a path clear of the globe sitting on curved black base, place onto blue pad.",
+    "Grab the red block, transfer it while steering clear of the hand-sized globe on sturdy stand, place on blue pad.",
+    "Lift the red block, hand it across away from the globe featuring bright country colors, then place it on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the compact globe with labeled countries, place on blue pad."
+  ],
+  "unseen": [
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings."
+  ]
+}
\ No newline at end of file
diff --git a/handover_block_wp1/handover_block_wp1/instructions/episode88.json b/handover_block_wp1/handover_block_wp1/instructions/episode88.json
new file mode 100644
index 0000000000000000000000000000000000000000..f165afd627a888e176fb5965d252f65ff50f8201
--- /dev/null
+++ b/handover_block_wp1/handover_block_wp1/instructions/episode88.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the red block from the table, pass it clear of the small world globe, and put it on blue pad.",
+    "Pick the red block, keep the transfer away from the blue globe, and place it on blue pad.",
+    "Secure the red block, transfer it away from the globe featuring bright country colors, and drop it onto the blue pad.",
+    "Left arm lifts red block, handover away from the small sphere showing earth map, right arm sets it on blue pad.",
+    "Grab red block, pass it along a path clear of the earth-shaped globe with black frame, place onto blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the hand-sized globe on sturdy stand, then place on blue pad.",
+    "Left arm grips red block, hands off away from the globe featuring bright country colors, right arm places on blue pad.",
+    "Take the red block from the table, hand over away from the blue sphere with countries marked, drop on blue pad.",
+    "Left arm take red block, keep the pass away from the globe with curved black base, right arm puts on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe with curved black base, set on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the hand-sized globe on sturdy stand, place blue pad.",
+    "Lift the red block, hand it across away from the compact globe with labeled countries, then place it on blue pad.",
+    "Lift the red block, do a handover avoiding the blue globe, then place it onto the blue pad.",
+    "Grab the red block, transfer it while steering clear of the blue globe, place on blue pad.",
+    "Use left arm to pick red block, avoid the small sphere showing earth map during handoff, right arm place blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the colorful globe on black stand, then places on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the globe with curved black base, then place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the small world globe, and place on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the small sphere showing earth map, then sets it on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the blue globe, place on blue pad.",
+    "Take the red block from the table, pass it clear of the small sphere showing earth map, and put it on blue pad.",
+    "Pick the red block, keep the transfer away from the blue globe with colorful continents, and place it on blue pad.",
+    "Secure the red block, transfer it away from the blue sphere with countries marked, and drop it onto the blue pad.",
+    "Left arm lifts red block, handover away from the blue sphere with countries marked, right arm sets it on blue pad.",
+    "Grab red block, pass it along a path clear of the small world globe, place onto blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the hand-sized globe on sturdy stand, then place on blue pad.",
+    "Left arm grips red block, hands off away from the globe sitting on curved black base, right arm places on blue pad.",
+    "Take the red block from the table, hand over away from the blue sphere with countries marked, drop on blue pad.",
+    "Left arm take red block, keep the pass away from the globe with curved black base, right arm puts on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe with curved black base, set on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the compact globe with labeled countries, place blue pad.",
+    "Lift the red block, hand it across away from the small sphere showing earth map, then place it on blue pad.",
+    "Lift the red block, do a handover avoiding the globe featuring bright country colors, then place it onto the blue pad.",
+    "Grab the red block, transfer it while steering clear of the small sphere showing earth map, place on blue pad.",
+    "Use left arm to pick red block, avoid the blue sphere with countries marked during handoff, right arm place blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the small world globe, then places on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the small sphere showing earth map, then place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the small sphere showing earth map, and place on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the colorful globe on black stand, then sets it on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the colorful globe on black stand, place on blue pad.",
+    "Take the red block from the table, pass it clear of the blue globe, and put it on blue pad.",
+    "Pick the red block, keep the transfer away from the small world globe, and place it on blue pad.",
+    "Secure the red block, transfer it away from the blue globe, and drop it onto the blue pad.",
+    "Left arm lifts red block, handover away from the blue sphere with countries marked, right arm sets it on blue pad.",
+    "Grab red block, pass it along a path clear of the colorful globe on black stand, place onto blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the colorful globe on black stand, then place on blue pad.",
+    "Left arm grips red block, hands off away from the colorful globe on black stand, right arm places on blue pad.",
+    "Take the red block from the table, hand over away from the blue sphere with countries marked, drop on blue pad.",
+    "Left arm take red block, keep the pass away from the small sphere showing earth map, right arm puts on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the small sphere showing earth map, set on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe with curved black base, place blue pad.",
+    "Lift the red block, hand it across away from the globe featuring bright country colors, then place it on blue pad.",
+    "Lift the red block, do a handover avoiding the globe sitting on curved black base, then place it onto the blue pad.",
+    "Grab the red block, transfer it while steering clear of the hand-sized globe on sturdy stand, place on blue pad.",
+    "Use left arm to pick red block, avoid the globe featuring bright country colors during handoff, right arm place blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the blue globe, then places on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the colorful globe on black stand, then place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the compact globe with labeled countries, and place on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the colorful globe on black stand, then sets it on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the earth-shaped globe with black frame, place on blue pad.",
+    "Take the red block from the table, pass it clear of the globe with curved black base, and put it on blue pad.",
+    "Pick the red block, keep the transfer away from the globe with curved black base, and place it on blue pad.",
+    "Secure the red block, transfer it away from the blue sphere with countries marked, and drop it onto the blue pad.",
+    "Left arm lifts red block, handover away from the earth-shaped globe with black frame, right arm sets it on blue pad.",
+    "Grab red block, pass it along a path clear of the blue globe with colorful continents, place onto blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the earth-shaped globe with black frame, then place on blue pad.",
+    "Left arm grips red block, hands off away from the colorful globe on black stand, right arm places on blue pad.",
+    "Take the red block from the table, hand over away from the earth-shaped globe with black frame, drop on blue pad.",
+    "Left arm take red block, keep the pass away from the blue globe, right arm puts on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the colorful globe on black stand, set on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe sitting on curved black base, place blue pad.",
+    "Lift the red block, hand it across away from the small sphere showing earth map, then place it on blue pad.",
+    "Lift the red block, do a handover avoiding the globe sitting on curved black base, then place it onto the blue pad.",
+    "Grab the red block, transfer it while steering clear of the earth-shaped globe with black frame, place on blue pad.",
+    "Use left arm to pick red block, avoid the hand-sized globe on sturdy stand during handoff, right arm place blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the hand-sized globe on sturdy stand, then places on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the blue globe with colorful continents, then place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the earth-shaped globe with black frame, and place on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the small world globe, then sets it on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the small world globe, place on blue pad.",
+    "Take the red block from the table, pass it clear of the compact globe with labeled countries, and put it on blue pad.",
+    "Pick the red block, keep the transfer away from the globe sitting on curved black base, and place it on blue pad.",
+    "Secure the red block, transfer it away from the colorful globe on black stand, and drop it onto the blue pad.",
+    "Left arm lifts red block, handover away from the small world globe, right arm sets it on blue pad.",
+    "Grab red block, pass it along a path clear of the blue sphere with countries marked, place onto blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the small sphere showing earth map, then place on blue pad.",
+    "Left arm grips red block, hands off away from the blue globe with colorful continents, right arm places on blue pad.",
+    "Take the red block from the table, hand over away from the globe sitting on curved black base, drop on blue pad.",
+    "Left arm take red block, keep the pass away from the blue globe, right arm puts on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the small sphere showing earth map, set on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the blue globe, place blue pad.",
+    "Lift the red block, hand it across away from the hand-sized globe on sturdy stand, then place it on blue pad.",
+    "Lift the red block, do a handover avoiding the small sphere showing earth map, then place it onto the blue pad.",
+    "Grab the red block, transfer it while steering clear of the globe with curved black base, place on blue pad.",
+    "Use left arm to pick red block, avoid the hand-sized globe on sturdy stand during handoff, right arm place blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe featuring bright country colors, then places on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the compact globe with labeled countries, then place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the blue globe, and place on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the blue globe with colorful continents, then sets it on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the blue globe, place on blue pad."
+  ],
+  "unseen": [
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad."
+  ]
+}
\ No newline at end of file
diff --git a/handover_block_wp1/handover_block_wp1/instructions/episode89.json b/handover_block_wp1/handover_block_wp1/instructions/episode89.json
new file mode 100644
index 0000000000000000000000000000000000000000..f638530ac57159a9ddd7e49e9329f2552d237422
--- /dev/null
+++ b/handover_block_wp1/handover_block_wp1/instructions/episode89.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the red block, transfer it while staying clear of the blue globe, and place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the small sphere showing earth map, place on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the blue globe with colorful continents, place blue pad.",
+    "Grab red block, pass it along a path clear of the blue sphere with countries marked, place onto blue pad.",
+    "Secure the red block, transfer it away from the blue globe, and drop it onto the blue pad.",
+    "Take the red block from the table, pass it clear of the small sphere showing earth map, and put it on blue pad.",
+    "Left arm grips red block, hands off away from the small world globe, right arm places on blue pad.",
+    "Use left arm to pick red block, avoid the globe sitting on curved black base during handoff, right arm place blue pad.",
+    "Pick the red block, keep the transfer away from the globe with curved black base, and place it on blue pad.",
+    "Take the red block from the table, hand over away from the small world globe, drop on blue pad.",
+    "Grab the red block, transfer it while steering clear of the earth-shaped globe with black frame, place on blue pad.",
+    "Left arm take red block, keep the pass away from the earth-shaped globe with black frame, right arm puts on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the colorful globe on black stand, then sets it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the globe sitting on curved black base, then place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the blue globe with colorful continents, set on blue pad.",
+    "Lift the red block, hand it across away from the globe featuring bright country colors, then place it on blue pad.",
+    "Lift the red block, do a handover avoiding the blue sphere with countries marked, then place it onto the blue pad.",
+    "Left arm lifts red block, handover away from the compact globe with labeled countries, right arm sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe sitting on curved black base, then place on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the earth-shaped globe with black frame, then places on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the blue sphere with countries marked, and place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the earth-shaped globe with black frame, place on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the small world globe, place blue pad.",
+    "Grab red block, pass it along a path clear of the globe sitting on curved black base, place onto blue pad.",
+    "Secure the red block, transfer it away from the globe sitting on curved black base, and drop it onto the blue pad.",
+    "Take the red block from the table, pass it clear of the globe featuring bright country colors, and put it on blue pad.",
+    "Left arm grips red block, hands off away from the blue sphere with countries marked, right arm places on blue pad.",
+    "Use left arm to pick red block, avoid the blue globe with colorful continents during handoff, right arm place blue pad.",
+    "Pick the red block, keep the transfer away from the globe sitting on curved black base, and place it on blue pad.",
+    "Take the red block from the table, hand over away from the globe sitting on curved black base, drop on blue pad.",
+    "Grab the red block, transfer it while steering clear of the compact globe with labeled countries, place on blue pad.",
+    "Left arm take red block, keep the pass away from the globe featuring bright country colors, right arm puts on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the hand-sized globe on sturdy stand, then sets it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the blue sphere with countries marked, then place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the small world globe, set on blue pad.",
+    "Lift the red block, hand it across away from the colorful globe on black stand, then place it on blue pad.",
+    "Lift the red block, do a handover avoiding the earth-shaped globe with black frame, then place it onto the blue pad.",
+    "Left arm lifts red block, handover away from the earth-shaped globe with black frame, right arm sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the compact globe with labeled countries, then place on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the hand-sized globe on sturdy stand, then places on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe featuring bright country colors, and place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the hand-sized globe on sturdy stand, place on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the blue globe with colorful continents, place blue pad.",
+    "Grab red block, pass it along a path clear of the blue globe with colorful continents, place onto blue pad.",
+    "Secure the red block, transfer it away from the globe featuring bright country colors, and drop it onto the blue pad.",
+    "Take the red block from the table, pass it clear of the blue globe, and put it on blue pad.",
+    "Left arm grips red block, hands off away from the hand-sized globe on sturdy stand, right arm places on blue pad.",
+    "Use left arm to pick red block, avoid the blue globe with colorful continents during handoff, right arm place blue pad.",
+    "Pick the red block, keep the transfer away from the globe with curved black base, and place it on blue pad.",
+    "Take the red block from the table, hand over away from the hand-sized globe on sturdy stand, drop on blue pad.",
+    "Grab the red block, transfer it while steering clear of the globe sitting on curved black base, place on blue pad.",
+    "Left arm take red block, keep the pass away from the compact globe with labeled countries, right arm puts on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the small world globe, then sets it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the small sphere showing earth map, then place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the small world globe, set on blue pad.",
+    "Lift the red block, hand it across away from the globe with curved black base, then place it on blue pad.",
+    "Lift the red block, do a handover avoiding the small world globe, then place it onto the blue pad.",
+    "Left arm lifts red block, handover away from the earth-shaped globe with black frame, right arm sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe with curved black base, then place on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe sitting on curved black base, then places on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the colorful globe on black stand, and place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the small world globe, place on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe with curved black base, place blue pad.",
+    "Grab red block, pass it along a path clear of the earth-shaped globe with black frame, place onto blue pad.",
+    "Secure the red block, transfer it away from the blue sphere with countries marked, and drop it onto the blue pad.",
+    "Take the red block from the table, pass it clear of the blue sphere with countries marked, and put it on blue pad.",
+    "Left arm grips red block, hands off away from the small world globe, right arm places on blue pad.",
+    "Use left arm to pick red block, avoid the colorful globe on black stand during handoff, right arm place blue pad.",
+    "Pick the red block, keep the transfer away from the globe with curved black base, and place it on blue pad.",
+    "Take the red block from the table, hand over away from the blue globe, drop on blue pad.",
+    "Grab the red block, transfer it while steering clear of the blue sphere with countries marked, place on blue pad.",
+    "Left arm take red block, keep the pass away from the earth-shaped globe with black frame, right arm puts on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the globe with curved black base, then sets it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the globe sitting on curved black base, then place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the hand-sized globe on sturdy stand, set on blue pad.",
+    "Lift the red block, hand it across away from the blue sphere with countries marked, then place it on blue pad.",
+    "Lift the red block, do a handover avoiding the small sphere showing earth map, then place it onto the blue pad.",
+    "Left arm lifts red block, handover away from the colorful globe on black stand, right arm sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the small sphere showing earth map, then place on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the small sphere showing earth map, then places on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the blue globe, and place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the blue globe, place on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the earth-shaped globe with black frame, place blue pad.",
+    "Grab red block, pass it along a path clear of the blue globe, place onto blue pad.",
+    "Secure the red block, transfer it away from the small sphere showing earth map, and drop it onto the blue pad.",
+    "Take the red block from the table, pass it clear of the colorful globe on black stand, and put it on blue pad.",
+    "Left arm grips red block, hands off away from the globe featuring bright country colors, right arm places on blue pad.",
+    "Use left arm to pick red block, avoid the globe featuring bright country colors during handoff, right arm place blue pad.",
+    "Pick the red block, keep the transfer away from the earth-shaped globe with black frame, and place it on blue pad.",
+    "Take the red block from the table, hand over away from the earth-shaped globe with black frame, drop on blue pad.",
+    "Grab the red block, transfer it while steering clear of the globe featuring bright country colors, place on blue pad.",
+    "Left arm take red block, keep the pass away from the small world globe, right arm puts on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the blue globe with colorful continents, then sets it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the blue globe with colorful continents, then place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the earth-shaped globe with black frame, set on blue pad.",
+    "Lift the red block, hand it across away from the small sphere showing earth map, then place it on blue pad.",
+    "Lift the red block, do a handover avoiding the small world globe, then place it onto the blue pad.",
+    "Left arm lifts red block, handover away from the blue globe, right arm sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the hand-sized globe on sturdy stand, then place on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe featuring bright country colors, then places on blue pad."
+  ],
+  "unseen": [
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad."
+  ]
+}
\ No newline at end of file
diff --git a/handover_block_wp1/handover_block_wp1/instructions/episode9.json b/handover_block_wp1/handover_block_wp1/instructions/episode9.json
new file mode 100644
index 0000000000000000000000000000000000000000..c2cbb2e452eb641696e6c9408d91bc5a3ce735c8
--- /dev/null
+++ b/handover_block_wp1/handover_block_wp1/instructions/episode9.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab red block, pass it along a path clear of the globe featuring bright country colors, place onto blue pad.",
+    "Take the red block from the table, pass it clear of the hand-sized globe on sturdy stand, and put it on blue pad.",
+    "Lift the red block, do a handover avoiding the blue globe, then place it onto the blue pad.",
+    "Pick up the red block, transfer it while staying clear of the small world globe, and place on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the blue sphere with countries marked, place blue pad.",
+    "Use left arm to pick red block, avoid the blue globe during handoff, right arm place blue pad.",
+    "Left arm take red block, keep the pass away from the small world globe, right arm puts on blue pad.",
+    "Lift the red block, hand it across away from the globe sitting on curved black base, then place it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the small sphere showing earth map, then sets it on blue pad.",
+    "Left arm grips red block, hands off away from the small sphere showing earth map, right arm places on blue pad.",
+    "Secure the red block, transfer it away from the earth-shaped globe with black frame, and drop it onto the blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the colorful globe on black stand, then places on blue pad.",
+    "Pick the red block, keep the transfer away from the small world globe, and place it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the hand-sized globe on sturdy stand, place on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe featuring bright country colors, then place on blue pad.",
+    "Take the red block from the table, hand over away from the blue sphere with countries marked, drop on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the globe sitting on curved black base, then place on blue pad.",
+    "Left arm lifts red block, handover away from the globe sitting on curved black base, right arm sets it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the blue globe, set on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the colorful globe on black stand, place on blue pad.",
+    "Grab red block, pass it along a path clear of the blue globe, place onto blue pad.",
+    "Take the red block from the table, pass it clear of the globe featuring bright country colors, and put it on blue pad.",
+    "Lift the red block, do a handover avoiding the colorful globe on black stand, then place it onto the blue pad.",
+    "Pick up the red block, transfer it while staying clear of the blue globe, and place on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the blue sphere with countries marked, place blue pad.",
+    "Use left arm to pick red block, avoid the globe featuring bright country colors during handoff, right arm place blue pad.",
+    "Left arm take red block, keep the pass away from the globe with curved black base, right arm puts on blue pad.",
+    "Lift the red block, hand it across away from the globe sitting on curved black base, then place it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the globe sitting on curved black base, then sets it on blue pad.",
+    "Left arm grips red block, hands off away from the colorful globe on black stand, right arm places on blue pad.",
+    "Secure the red block, transfer it away from the earth-shaped globe with black frame, and drop it onto the blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the blue sphere with countries marked, then places on blue pad.",
+    "Pick the red block, keep the transfer away from the blue globe with colorful continents, and place it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the small sphere showing earth map, place on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the colorful globe on black stand, then place on blue pad.",
+    "Take the red block from the table, hand over away from the globe with curved black base, drop on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the compact globe with labeled countries, then place on blue pad.",
+    "Left arm lifts red block, handover away from the small world globe, right arm sets it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe with curved black base, set on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the blue globe with colorful continents, place on blue pad.",
+    "Grab red block, pass it along a path clear of the globe sitting on curved black base, place onto blue pad.",
+    "Take the red block from the table, pass it clear of the globe with curved black base, and put it on blue pad.",
+    "Lift the red block, do a handover avoiding the colorful globe on black stand, then place it onto the blue pad.",
+    "Pick up the red block, transfer it while staying clear of the compact globe with labeled countries, and place on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the hand-sized globe on sturdy stand, place blue pad.",
+    "Use left arm to pick red block, avoid the hand-sized globe on sturdy stand during handoff, right arm place blue pad.",
+    "Left arm take red block, keep the pass away from the blue globe, right arm puts on blue pad.",
+    "Lift the red block, hand it across away from the earth-shaped globe with black frame, then place it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the colorful globe on black stand, then sets it on blue pad.",
+    "Left arm grips red block, hands off away from the blue globe, right arm places on blue pad.",
+    "Secure the red block, transfer it away from the globe sitting on curved black base, and drop it onto the blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the small sphere showing earth map, then places on blue pad.",
+    "Pick the red block, keep the transfer away from the compact globe with labeled countries, and place it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the blue sphere with countries marked, place on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the colorful globe on black stand, then place on blue pad.",
+    "Take the red block from the table, hand over away from the colorful globe on black stand, drop on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the small sphere showing earth map, then place on blue pad.",
+    "Left arm lifts red block, handover away from the globe with curved black base, right arm sets it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the hand-sized globe on sturdy stand, set on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the hand-sized globe on sturdy stand, place on blue pad.",
+    "Grab red block, pass it along a path clear of the globe featuring bright country colors, place onto blue pad.",
+    "Take the red block from the table, pass it clear of the compact globe with labeled countries, and put it on blue pad.",
+    "Lift the red block, do a handover avoiding the globe sitting on curved black base, then place it onto the blue pad.",
+    "Pick up the red block, transfer it while staying clear of the compact globe with labeled countries, and place on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the small world globe, place blue pad.",
+    "Use left arm to pick red block, avoid the blue globe during handoff, right arm place blue pad.",
+    "Left arm take red block, keep the pass away from the blue globe, right arm puts on blue pad.",
+    "Lift the red block, hand it across away from the globe featuring bright country colors, then place it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the blue globe with colorful continents, then sets it on blue pad.",
+    "Left arm grips red block, hands off away from the blue globe, right arm places on blue pad.",
+    "Secure the red block, transfer it away from the blue globe, and drop it onto the blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the earth-shaped globe with black frame, then places on blue pad.",
+    "Pick the red block, keep the transfer away from the earth-shaped globe with black frame, and place it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the blue globe with colorful continents, place on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the colorful globe on black stand, then place on blue pad.",
+    "Take the red block from the table, hand over away from the hand-sized globe on sturdy stand, drop on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the globe with curved black base, then place on blue pad.",
+    "Left arm lifts red block, handover away from the globe sitting on curved black base, right arm sets it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the hand-sized globe on sturdy stand, set on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the hand-sized globe on sturdy stand, place on blue pad.",
+    "Grab red block, pass it along a path clear of the earth-shaped globe with black frame, place onto blue pad.",
+    "Take the red block from the table, pass it clear of the globe sitting on curved black base, and put it on blue pad.",
+    "Lift the red block, do a handover avoiding the blue globe with colorful continents, then place it onto the blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe sitting on curved black base, and place on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the blue globe with colorful continents, place blue pad.",
+    "Use left arm to pick red block, avoid the blue sphere with countries marked during handoff, right arm place blue pad.",
+    "Left arm take red block, keep the pass away from the colorful globe on black stand, right arm puts on blue pad.",
+    "Lift the red block, hand it across away from the blue sphere with countries marked, then place it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the blue globe with colorful continents, then sets it on blue pad.",
+    "Left arm grips red block, hands off away from the small world globe, right arm places on blue pad.",
+    "Secure the red block, transfer it away from the globe featuring bright country colors, and drop it onto the blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the small sphere showing earth map, then places on blue pad.",
+    "Pick the red block, keep the transfer away from the blue sphere with countries marked, and place it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the compact globe with labeled countries, place on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the earth-shaped globe with black frame, then place on blue pad.",
+    "Take the red block from the table, hand over away from the compact globe with labeled countries, drop on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the globe with curved black base, then place on blue pad.",
+    "Left arm lifts red block, handover away from the colorful globe on black stand, right arm sets it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe sitting on curved black base, set on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the small world globe, place on blue pad."
+  ],
+  "unseen": [
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad."
+  ]
+}
\ No newline at end of file
diff --git a/handover_block_wp1/handover_block_wp1/instructions/episode90.json b/handover_block_wp1/handover_block_wp1/instructions/episode90.json
new file mode 100644
index 0000000000000000000000000000000000000000..144e3507324c1d0bd513faff630712f9c729ab87
--- /dev/null
+++ b/handover_block_wp1/handover_block_wp1/instructions/episode90.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab red block, pass it along a path clear of the globe with curved black stand, place onto blue pad.",
+    "Lift the red block, do a handover avoiding the wooden globe with metal base, then place it onto the blue pad.",
+    "Take the red block from the table, hand over away from the wooden globe with metal base, drop on blue pad.",
+    "Lift the red block, hand it across away from the globe with smooth surface, then place it on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the round Earth globe, place on blue pad.",
+    "Left arm lifts red block, handover away from the brown globe on black stand, right arm sets it on blue pad.",
+    "Left arm take red block, keep the pass away from the beige and brown globe, right arm puts on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the globe with curved black stand, then place on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the globe with smooth surface, then sets it on blue pad.",
+    "Use left arm to pick red block, avoid the beige and brown globe during handoff, right arm place blue pad.",
+    "Secure the red block, transfer it away from the beige and brown globe, and drop it onto the blue pad.",
+    "Grab the red block, transfer it while steering clear of the round Earth globe, place on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the brown globe on black stand, then place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the wooden globe with metal base, and place on blue pad.",
+    "Left arm grips red block, hands off away from the Earth map globe, right arm places on blue pad.",
+    "Take the red block from the table, pass it clear of the round Earth globe, and put it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe for geographic reference, then places on blue pad.",
+    "Pick the red block, keep the transfer away from the decor piece globe, and place it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe for geographic reference, place blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe with curved black stand, set on blue pad.",
+    "Grab red block, pass it along a path clear of the round globe with sturdy base, place onto blue pad.",
+    "Lift the red block, do a handover avoiding the wooden globe with metal base, then place it onto the blue pad.",
+    "Take the red block from the table, hand over away from the Earth map globe, drop on blue pad.",
+    "Lift the red block, hand it across away from the globe with curved black stand, then place it on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the brown globe on black stand, place on blue pad.",
+    "Left arm lifts red block, handover away from the brown globe on black stand, right arm sets it on blue pad.",
+    "Left arm take red block, keep the pass away from the beige and brown globe, right arm puts on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the globe with curved black stand, then place on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the beige and brown globe, then sets it on blue pad.",
+    "Use left arm to pick red block, avoid the brown globe on black stand during handoff, right arm place blue pad.",
+    "Secure the red block, transfer it away from the smooth beige globe with continents, and drop it onto the blue pad.",
+    "Grab the red block, transfer it while steering clear of the round Earth globe, place on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the round Earth globe, then place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the beige and brown globe, and place on blue pad.",
+    "Left arm grips red block, hands off away from the wooden globe with metal base, right arm places on blue pad.",
+    "Take the red block from the table, pass it clear of the Earth map globe, and put it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the wooden globe with metal base, then places on blue pad.",
+    "Pick the red block, keep the transfer away from the brown globe on black stand, and place it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the wooden globe with metal base, place blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe with smooth surface, set on blue pad.",
+    "Grab red block, pass it along a path clear of the round Earth globe, place onto blue pad.",
+    "Lift the red block, do a handover avoiding the globe for geographic reference, then place it onto the blue pad.",
+    "Take the red block from the table, hand over away from the globe with curved black stand, drop on blue pad.",
+    "Lift the red block, hand it across away from the globe with curved black stand, then place it on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the round globe with sturdy base, place on blue pad.",
+    "Left arm lifts red block, handover away from the wooden globe with metal base, right arm sets it on blue pad.",
+    "Left arm take red block, keep the pass away from the wooden globe with metal base, right arm puts on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the globe with smooth surface, then place on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the beige and brown globe, then sets it on blue pad.",
+    "Use left arm to pick red block, avoid the wooden globe with metal base during handoff, right arm place blue pad.",
+    "Secure the red block, transfer it away from the globe with smooth surface, and drop it onto the blue pad.",
+    "Grab the red block, transfer it while steering clear of the Earth map globe, place on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe for geographic reference, then place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the Earth map globe, and place on blue pad.",
+    "Left arm grips red block, hands off away from the smooth beige globe with continents, right arm places on blue pad.",
+    "Take the red block from the table, pass it clear of the wooden globe with metal base, and put it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the wooden globe with metal base, then places on blue pad.",
+    "Pick the red block, keep the transfer away from the smooth beige globe with continents, and place it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe for geographic reference, place blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe with smooth surface, set on blue pad.",
+    "Grab red block, pass it along a path clear of the smooth beige globe with continents, place onto blue pad.",
+    "Lift the red block, do a handover avoiding the globe with smooth surface, then place it onto the blue pad.",
+    "Take the red block from the table, hand over away from the wooden globe with metal base, drop on blue pad.",
+    "Lift the red block, hand it across away from the spinning brown globe, then place it on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe for geographic reference, place on blue pad.",
+    "Left arm lifts red block, handover away from the round Earth globe, right arm sets it on blue pad.",
+    "Left arm take red block, keep the pass away from the wooden globe with metal base, right arm puts on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the round Earth globe, then place on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the smooth beige globe with continents, then sets it on blue pad.",
+    "Use left arm to pick red block, avoid the globe with smooth surface during handoff, right arm place blue pad.",
+    "Secure the red block, transfer it away from the round globe with sturdy base, and drop it onto the blue pad.",
+    "Grab the red block, transfer it while steering clear of the beige and brown globe, place on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the round globe with sturdy base, then place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the round Earth globe, and place on blue pad.",
+    "Left arm grips red block, hands off away from the decor piece globe, right arm places on blue pad.",
+    "Take the red block from the table, pass it clear of the brown globe on black stand, and put it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the beige and brown globe, then places on blue pad.",
+    "Pick the red block, keep the transfer away from the globe for geographic reference, and place it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the decor piece globe, place blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the Earth map globe, set on blue pad.",
+    "Grab red block, pass it along a path clear of the smooth beige globe with continents, place onto blue pad.",
+    "Lift the red block, do a handover avoiding the globe with curved black stand, then place it onto the blue pad.",
+    "Take the red block from the table, hand over away from the round globe with sturdy base, drop on blue pad.",
+    "Lift the red block, hand it across away from the brown globe on black stand, then place it on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the Earth map globe, place on blue pad.",
+    "Left arm lifts red block, handover away from the spinning brown globe, right arm sets it on blue pad.",
+    "Left arm take red block, keep the pass away from the globe for geographic reference, right arm puts on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the wooden globe with metal base, then place on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the round Earth globe, then sets it on blue pad.",
+    "Use left arm to pick red block, avoid the brown globe on black stand during handoff, right arm place blue pad.",
+    "Secure the red block, transfer it away from the decor piece globe, and drop it onto the blue pad.",
+    "Grab the red block, transfer it while steering clear of the decor piece globe, place on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe for geographic reference, then place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe with curved black stand, and place on blue pad.",
+    "Left arm grips red block, hands off away from the round globe with sturdy base, right arm places on blue pad.",
+    "Take the red block from the table, pass it clear of the globe with curved black stand, and put it on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe with curved black stand, then places on blue pad.",
+    "Pick the red block, keep the transfer away from the round Earth globe, and place it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the smooth beige globe with continents, place blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the smooth beige globe with continents, set on blue pad."
+  ],
+  "unseen": [
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad."
+  ]
+}
\ No newline at end of file
diff --git a/handover_block_wp1/handover_block_wp1/instructions/episode91.json b/handover_block_wp1/handover_block_wp1/instructions/episode91.json
new file mode 100644
index 0000000000000000000000000000000000000000..0738aca6f9637463726eacad49505ee894b0faa6
--- /dev/null
+++ b/handover_block_wp1/handover_block_wp1/instructions/episode91.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use left arm to grasp red block, pass to right arm away from the compact globe with labeled countries, set on blue pad.",
+    "Grab the red block, transfer it while steering clear of the small sphere showing earth map, place on blue pad.",
+    "Secure the red block, transfer it away from the globe sitting on curved black base, and drop it onto the blue pad.",
+    "Take the red block from the table, pass it clear of the globe sitting on curved black base, and put it on blue pad.",
+    "Left arm grips red block, hands off away from the colorful globe on black stand, right arm places on blue pad.",
+    "Pick the red block, keep the transfer away from the compact globe with labeled countries, and place it on blue pad.",
+    "Left arm lifts red block, handover away from the colorful globe on black stand, right arm sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the blue globe, place blue pad.",
+    "Pick the red block, hand it over while keeping clear of the globe with curved black base, then place on blue pad.",
+    "Lift the red block, do a handover avoiding the earth-shaped globe with black frame, then place it onto the blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the small world globe, place on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the globe sitting on curved black base, then sets it on blue pad.",
+    "Take the red block from the table, hand over away from the globe featuring bright country colors, drop on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe with curved black base, then places on blue pad.",
+    "Use left arm to pick red block, avoid the blue sphere with countries marked during handoff, right arm place blue pad.",
+    "Left arm take red block, keep the pass away from the hand-sized globe on sturdy stand, right arm puts on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe featuring bright country colors, and place on blue pad.",
+    "Grab red block, pass it along a path clear of the globe sitting on curved black base, place onto blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe with curved black base, then place on blue pad.",
+    "Lift the red block, hand it across away from the hand-sized globe on sturdy stand, then place it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the blue globe with colorful continents, set on blue pad.",
+    "Grab the red block, transfer it while steering clear of the blue sphere with countries marked, place on blue pad.",
+    "Secure the red block, transfer it away from the globe with curved black base, and drop it onto the blue pad.",
+    "Take the red block from the table, pass it clear of the hand-sized globe on sturdy stand, and put it on blue pad.",
+    "Left arm grips red block, hands off away from the small sphere showing earth map, right arm places on blue pad.",
+    "Pick the red block, keep the transfer away from the blue sphere with countries marked, and place it on blue pad.",
+    "Left arm lifts red block, handover away from the globe featuring bright country colors, right arm sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the colorful globe on black stand, place blue pad.",
+    "Pick the red block, hand it over while keeping clear of the globe sitting on curved black base, then place on blue pad.",
+    "Lift the red block, do a handover avoiding the compact globe with labeled countries, then place it onto the blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the hand-sized globe on sturdy stand, place on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the earth-shaped globe with black frame, then sets it on blue pad.",
+    "Take the red block from the table, hand over away from the globe with curved black base, drop on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe featuring bright country colors, then places on blue pad.",
+    "Use left arm to pick red block, avoid the blue sphere with countries marked during handoff, right arm place blue pad.",
+    "Left arm take red block, keep the pass away from the earth-shaped globe with black frame, right arm puts on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the blue globe with colorful continents, and place on blue pad.",
+    "Grab red block, pass it along a path clear of the globe featuring bright country colors, place onto blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the blue globe with colorful continents, then place on blue pad.",
+    "Lift the red block, hand it across away from the small sphere showing earth map, then place it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the blue sphere with countries marked, set on blue pad.",
+    "Grab the red block, transfer it while steering clear of the hand-sized globe on sturdy stand, place on blue pad.",
+    "Secure the red block, transfer it away from the globe with curved black base, and drop it onto the blue pad.",
+    "Take the red block from the table, pass it clear of the blue globe with colorful continents, and put it on blue pad.",
+    "Left arm grips red block, hands off away from the hand-sized globe on sturdy stand, right arm places on blue pad.",
+    "Pick the red block, keep the transfer away from the globe with curved black base, and place it on blue pad.",
+    "Left arm lifts red block, handover away from the globe sitting on curved black base, right arm sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe sitting on curved black base, place blue pad.",
+    "Pick the red block, hand it over while keeping clear of the globe sitting on curved black base, then place on blue pad.",
+    "Lift the red block, do a handover avoiding the globe sitting on curved black base, then place it onto the blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the blue globe, place on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the small sphere showing earth map, then sets it on blue pad.",
+    "Take the red block from the table, hand over away from the colorful globe on black stand, drop on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the hand-sized globe on sturdy stand, then places on blue pad.",
+    "Use left arm to pick red block, avoid the blue globe with colorful continents during handoff, right arm place blue pad.",
+    "Left arm take red block, keep the pass away from the hand-sized globe on sturdy stand, right arm puts on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the hand-sized globe on sturdy stand, and place on blue pad.",
+    "Grab red block, pass it along a path clear of the hand-sized globe on sturdy stand, place onto blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe with curved black base, then place on blue pad.",
+    "Lift the red block, hand it across away from the earth-shaped globe with black frame, then place it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the blue globe, set on blue pad.",
+    "Grab the red block, transfer it while steering clear of the blue globe, place on blue pad.",
+    "Secure the red block, transfer it away from the compact globe with labeled countries, and drop it onto the blue pad.",
+    "Take the red block from the table, pass it clear of the blue globe, and put it on blue pad.",
+    "Left arm grips red block, hands off away from the globe featuring bright country colors, right arm places on blue pad.",
+    "Pick the red block, keep the transfer away from the globe with curved black base, and place it on blue pad.",
+    "Left arm lifts red block, handover away from the globe with curved black base, right arm sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the compact globe with labeled countries, place blue pad.",
+    "Pick the red block, hand it over while keeping clear of the hand-sized globe on sturdy stand, then place on blue pad.",
+    "Lift the red block, do a handover avoiding the compact globe with labeled countries, then place it onto the blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe with curved black base, place on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the blue globe with colorful continents, then sets it on blue pad.",
+    "Take the red block from the table, hand over away from the hand-sized globe on sturdy stand, drop on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the compact globe with labeled countries, then places on blue pad.",
+    "Use left arm to pick red block, avoid the compact globe with labeled countries during handoff, right arm place blue pad.",
+    "Left arm take red block, keep the pass away from the small world globe, right arm puts on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the small world globe, and place on blue pad.",
+    "Grab red block, pass it along a path clear of the hand-sized globe on sturdy stand, place onto blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the colorful globe on black stand, then place on blue pad.",
+    "Lift the red block, hand it across away from the globe featuring bright country colors, then place it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the colorful globe on black stand, set on blue pad.",
+    "Grab the red block, transfer it while steering clear of the globe featuring bright country colors, place on blue pad.",
+    "Secure the red block, transfer it away from the blue globe, and drop it onto the blue pad.",
+    "Take the red block from the table, pass it clear of the globe with curved black base, and put it on blue pad.",
+    "Left arm grips red block, hands off away from the globe with curved black base, right arm places on blue pad.",
+    "Pick the red block, keep the transfer away from the globe with curved black base, and place it on blue pad.",
+    "Left arm lifts red block, handover away from the colorful globe on black stand, right arm sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the hand-sized globe on sturdy stand, place blue pad.",
+    "Pick the red block, hand it over while keeping clear of the compact globe with labeled countries, then place on blue pad.",
+    "Lift the red block, do a handover avoiding the blue sphere with countries marked, then place it onto the blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the blue sphere with countries marked, place on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the hand-sized globe on sturdy stand, then sets it on blue pad.",
+    "Take the red block from the table, hand over away from the blue sphere with countries marked, drop on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the small world globe, then places on blue pad.",
+    "Use left arm to pick red block, avoid the hand-sized globe on sturdy stand during handoff, right arm place blue pad.",
+    "Left arm take red block, keep the pass away from the blue sphere with countries marked, right arm puts on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the hand-sized globe on sturdy stand, and place on blue pad.",
+    "Grab red block, pass it along a path clear of the small sphere showing earth map, place onto blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the earth-shaped globe with black frame, then place on blue pad.",
+    "Lift the red block, hand it across away from the small sphere showing earth map, then place it on blue pad."
+  ],
+  "unseen": [
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad."
+  ]
+}
\ No newline at end of file
diff --git a/handover_block_wp1/handover_block_wp1/instructions/episode92.json b/handover_block_wp1/handover_block_wp1/instructions/episode92.json
new file mode 100644
index 0000000000000000000000000000000000000000..cdd498095098b707ef1c9f6773d5bd6323de7fe9
--- /dev/null
+++ b/handover_block_wp1/handover_block_wp1/instructions/episode92.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use left arm to pick red block, avoid the compact globe with labeled countries during handoff, right arm place blue pad.",
+    "Grab red block, pass it along a path clear of the small world globe, place onto blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the compact globe with labeled countries, place on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the blue sphere with countries marked, then place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the blue globe, and place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the blue globe with colorful continents, set on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe featuring bright country colors, then places on blue pad.",
+    "Take the red block from the table, pass it clear of the blue globe with colorful continents, and put it on blue pad.",
+    "Left arm take red block, keep the pass away from the globe featuring bright country colors, right arm puts on blue pad.",
+    "Pick the red block, keep the transfer away from the globe with curved black base, and place it on blue pad.",
+    "Left arm lifts red block, handover away from the globe sitting on curved black base, right arm sets it on blue pad.",
+    "Lift the red block, hand it across away from the small sphere showing earth map, then place it on blue pad.",
+    "Lift the red block, do a handover avoiding the globe featuring bright country colors, then place it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm away from the blue globe with colorful continents, place blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the earth-shaped globe with black frame, then place on blue pad.",
+    "Grab the red block, transfer it while steering clear of the small world globe, place on blue pad.",
+    "Take the red block from the table, hand over away from the blue globe with colorful continents, drop on blue pad.",
+    "Secure the red block, transfer it away from the blue globe with colorful continents, and drop it onto the blue pad.",
+    "Left arm grips red block, hands off away from the small world globe, right arm places on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the globe featuring bright country colors, then sets it on blue pad.",
+    "Use left arm to pick red block, avoid the globe sitting on curved black base during handoff, right arm place blue pad.",
+    "Grab red block, pass it along a path clear of the compact globe with labeled countries, place onto blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe sitting on curved black base, place on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the small world globe, then place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the colorful globe on black stand, and place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe featuring bright country colors, set on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the hand-sized globe on sturdy stand, then places on blue pad.",
+    "Take the red block from the table, pass it clear of the globe with curved black base, and put it on blue pad.",
+    "Left arm take red block, keep the pass away from the compact globe with labeled countries, right arm puts on blue pad.",
+    "Pick the red block, keep the transfer away from the compact globe with labeled countries, and place it on blue pad.",
+    "Left arm lifts red block, handover away from the globe with curved black base, right arm sets it on blue pad.",
+    "Lift the red block, hand it across away from the globe sitting on curved black base, then place it on blue pad.",
+    "Lift the red block, do a handover avoiding the hand-sized globe on sturdy stand, then place it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe featuring bright country colors, place blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the compact globe with labeled countries, then place on blue pad.",
+    "Grab the red block, transfer it while steering clear of the blue globe with colorful continents, place on blue pad.",
+    "Take the red block from the table, hand over away from the small world globe, drop on blue pad.",
+    "Secure the red block, transfer it away from the blue globe with colorful continents, and drop it onto the blue pad.",
+    "Left arm grips red block, hands off away from the compact globe with labeled countries, right arm places on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the blue sphere with countries marked, then sets it on blue pad.",
+    "Use left arm to pick red block, avoid the blue globe during handoff, right arm place blue pad.",
+    "Grab red block, pass it along a path clear of the blue globe with colorful continents, place onto blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the blue sphere with countries marked, place on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the globe featuring bright country colors, then place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe with curved black base, and place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the earth-shaped globe with black frame, set on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the blue globe with colorful continents, then places on blue pad.",
+    "Take the red block from the table, pass it clear of the blue globe with colorful continents, and put it on blue pad.",
+    "Left arm take red block, keep the pass away from the blue globe with colorful continents, right arm puts on blue pad.",
+    "Pick the red block, keep the transfer away from the globe with curved black base, and place it on blue pad.",
+    "Left arm lifts red block, handover away from the earth-shaped globe with black frame, right arm sets it on blue pad.",
+    "Lift the red block, hand it across away from the blue globe, then place it on blue pad.",
+    "Lift the red block, do a handover avoiding the small world globe, then place it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm away from the compact globe with labeled countries, place blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the small sphere showing earth map, then place on blue pad.",
+    "Grab the red block, transfer it while steering clear of the blue globe, place on blue pad.",
+    "Take the red block from the table, hand over away from the blue globe with colorful continents, drop on blue pad.",
+    "Secure the red block, transfer it away from the globe with curved black base, and drop it onto the blue pad.",
+    "Left arm grips red block, hands off away from the compact globe with labeled countries, right arm places on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the colorful globe on black stand, then sets it on blue pad.",
+    "Use left arm to pick red block, avoid the globe sitting on curved black base during handoff, right arm place blue pad.",
+    "Grab red block, pass it along a path clear of the compact globe with labeled countries, place onto blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the colorful globe on black stand, place on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the compact globe with labeled countries, then place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the blue globe with colorful continents, and place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the earth-shaped globe with black frame, set on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the earth-shaped globe with black frame, then places on blue pad.",
+    "Take the red block from the table, pass it clear of the blue globe with colorful continents, and put it on blue pad.",
+    "Left arm take red block, keep the pass away from the colorful globe on black stand, right arm puts on blue pad.",
+    "Pick the red block, keep the transfer away from the small world globe, and place it on blue pad.",
+    "Left arm lifts red block, handover away from the globe featuring bright country colors, right arm sets it on blue pad.",
+    "Lift the red block, hand it across away from the blue globe with colorful continents, then place it on blue pad.",
+    "Lift the red block, do a handover avoiding the compact globe with labeled countries, then place it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe with curved black base, place blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe with curved black base, then place on blue pad.",
+    "Grab the red block, transfer it while steering clear of the compact globe with labeled countries, place on blue pad.",
+    "Take the red block from the table, hand over away from the hand-sized globe on sturdy stand, drop on blue pad.",
+    "Secure the red block, transfer it away from the blue globe with colorful continents, and drop it onto the blue pad.",
+    "Left arm grips red block, hands off away from the small sphere showing earth map, right arm places on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the compact globe with labeled countries, then sets it on blue pad.",
+    "Use left arm to pick red block, avoid the blue globe with colorful continents during handoff, right arm place blue pad.",
+    "Grab red block, pass it along a path clear of the small world globe, place onto blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the small world globe, place on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the globe with curved black base, then place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe featuring bright country colors, and place on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe with curved black base, set on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the small world globe, then places on blue pad.",
+    "Take the red block from the table, pass it clear of the blue sphere with countries marked, and put it on blue pad.",
+    "Left arm take red block, keep the pass away from the hand-sized globe on sturdy stand, right arm puts on blue pad.",
+    "Pick the red block, keep the transfer away from the blue globe, and place it on blue pad.",
+    "Left arm lifts red block, handover away from the earth-shaped globe with black frame, right arm sets it on blue pad.",
+    "Lift the red block, hand it across away from the compact globe with labeled countries, then place it on blue pad.",
+    "Lift the red block, do a handover avoiding the compact globe with labeled countries, then place it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm away from the colorful globe on black stand, place blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the hand-sized globe on sturdy stand, then place on blue pad.",
+    "Grab the red block, transfer it while steering clear of the globe with curved black base, place on blue pad.",
+    "Take the red block from the table, hand over away from the blue globe with colorful continents, drop on blue pad.",
+    "Secure the red block, transfer it away from the compact globe with labeled countries, and drop it onto the blue pad.",
+    "Left arm grips red block, hands off away from the small world globe, right arm places on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the globe with curved black base, then sets it on blue pad."
+  ],
+  "unseen": [
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad."
+  ]
+}
\ No newline at end of file
diff --git a/handover_block_wp1/handover_block_wp1/instructions/episode93.json b/handover_block_wp1/handover_block_wp1/instructions/episode93.json
new file mode 100644
index 0000000000000000000000000000000000000000..b91c42d53e0f00e69393e498d8a3ed9c1501262f
--- /dev/null
+++ b/handover_block_wp1/handover_block_wp1/instructions/episode93.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use left arm to pick red block, avoid the compact globe with labeled countries during handoff, right arm place blue pad.",
+    "Grab red block, pass it along a path clear of the globe with curved black base, place onto blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the small sphere showing earth map, then places on blue pad.",
+    "Pick the red block, keep the transfer away from the globe with curved black base, and place it on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe with curved black base, and place on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the blue globe with colorful continents, then place on blue pad.",
+    "Left arm grips red block, hands off away from the globe sitting on curved black base, right arm places on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the small sphere showing earth map, place on blue pad.",
+    "Lift the red block, do a handover avoiding the blue sphere with countries marked, then place it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the small sphere showing earth map, then place on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the globe with curved black base, then sets it on blue pad.",
+    "Secure the red block, transfer it away from the globe featuring bright country colors, and drop it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe sitting on curved black base, place blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the compact globe with labeled countries, set on blue pad.",
+    "Take the red block from the table, hand over away from the globe featuring bright country colors, drop on blue pad.",
+    "Left arm lifts red block, handover away from the colorful globe on black stand, right arm sets it on blue pad.",
+    "Lift the red block, hand it across away from the hand-sized globe on sturdy stand, then place it on blue pad.",
+    "Take the red block from the table, pass it clear of the blue globe, and put it on blue pad.",
+    "Left arm take red block, keep the pass away from the globe with curved black base, right arm puts on blue pad.",
+    "Grab the red block, transfer it while steering clear of the globe with curved black base, place on blue pad.",
+    "Use left arm to pick red block, avoid the earth-shaped globe with black frame during handoff, right arm place blue pad.",
+    "Grab red block, pass it along a path clear of the earth-shaped globe with black frame, place onto blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the hand-sized globe on sturdy stand, then places on blue pad.",
+    "Pick the red block, keep the transfer away from the globe with curved black base, and place it on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe featuring bright country colors, and place on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the hand-sized globe on sturdy stand, then place on blue pad.",
+    "Left arm grips red block, hands off away from the blue globe with colorful continents, right arm places on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the hand-sized globe on sturdy stand, place on blue pad.",
+    "Lift the red block, do a handover avoiding the earth-shaped globe with black frame, then place it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe sitting on curved black base, then place on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the hand-sized globe on sturdy stand, then sets it on blue pad.",
+    "Secure the red block, transfer it away from the blue sphere with countries marked, and drop it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm away from the small sphere showing earth map, place blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe with curved black base, set on blue pad.",
+    "Take the red block from the table, hand over away from the globe sitting on curved black base, drop on blue pad.",
+    "Left arm lifts red block, handover away from the globe featuring bright country colors, right arm sets it on blue pad.",
+    "Lift the red block, hand it across away from the globe featuring bright country colors, then place it on blue pad.",
+    "Take the red block from the table, pass it clear of the earth-shaped globe with black frame, and put it on blue pad.",
+    "Left arm take red block, keep the pass away from the blue globe, right arm puts on blue pad.",
+    "Grab the red block, transfer it while steering clear of the earth-shaped globe with black frame, place on blue pad.",
+    "Use left arm to pick red block, avoid the small sphere showing earth map during handoff, right arm place blue pad.",
+    "Grab red block, pass it along a path clear of the small sphere showing earth map, place onto blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe featuring bright country colors, then places on blue pad.",
+    "Pick the red block, keep the transfer away from the earth-shaped globe with black frame, and place it on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the blue globe, and place on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the earth-shaped globe with black frame, then place on blue pad.",
+    "Left arm grips red block, hands off away from the globe sitting on curved black base, right arm places on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the blue globe, place on blue pad.",
+    "Lift the red block, do a handover avoiding the blue sphere with countries marked, then place it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the compact globe with labeled countries, then place on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the globe featuring bright country colors, then sets it on blue pad.",
+    "Secure the red block, transfer it away from the blue globe with colorful continents, and drop it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe featuring bright country colors, place blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the colorful globe on black stand, set on blue pad.",
+    "Take the red block from the table, hand over away from the earth-shaped globe with black frame, drop on blue pad.",
+    "Left arm lifts red block, handover away from the globe with curved black base, right arm sets it on blue pad.",
+    "Lift the red block, hand it across away from the compact globe with labeled countries, then place it on blue pad.",
+    "Take the red block from the table, pass it clear of the hand-sized globe on sturdy stand, and put it on blue pad.",
+    "Left arm take red block, keep the pass away from the small world globe, right arm puts on blue pad.",
+    "Grab the red block, transfer it while steering clear of the colorful globe on black stand, place on blue pad.",
+    "Use left arm to pick red block, avoid the small world globe during handoff, right arm place blue pad.",
+    "Grab red block, pass it along a path clear of the small sphere showing earth map, place onto blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe featuring bright country colors, then places on blue pad.",
+    "Pick the red block, keep the transfer away from the globe featuring bright country colors, and place it on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the blue globe with colorful continents, and place on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the blue sphere with countries marked, then place on blue pad.",
+    "Left arm grips red block, hands off away from the globe featuring bright country colors, right arm places on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the hand-sized globe on sturdy stand, place on blue pad.",
+    "Lift the red block, do a handover avoiding the globe sitting on curved black base, then place it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe featuring bright country colors, then place on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the blue sphere with countries marked, then sets it on blue pad.",
+    "Secure the red block, transfer it away from the hand-sized globe on sturdy stand, and drop it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm away from the hand-sized globe on sturdy stand, place blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe sitting on curved black base, set on blue pad.",
+    "Take the red block from the table, hand over away from the hand-sized globe on sturdy stand, drop on blue pad.",
+    "Left arm lifts red block, handover away from the globe featuring bright country colors, right arm sets it on blue pad.",
+    "Lift the red block, hand it across away from the globe sitting on curved black base, then place it on blue pad.",
+    "Take the red block from the table, pass it clear of the hand-sized globe on sturdy stand, and put it on blue pad.",
+    "Left arm take red block, keep the pass away from the hand-sized globe on sturdy stand, right arm puts on blue pad.",
+    "Grab the red block, transfer it while steering clear of the blue sphere with countries marked, place on blue pad.",
+    "Use left arm to pick red block, avoid the globe with curved black base during handoff, right arm place blue pad.",
+    "Grab red block, pass it along a path clear of the hand-sized globe on sturdy stand, place onto blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the blue sphere with countries marked, then places on blue pad.",
+    "Pick the red block, keep the transfer away from the hand-sized globe on sturdy stand, and place it on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the blue sphere with countries marked, and place on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the blue sphere with countries marked, then place on blue pad.",
+    "Left arm grips red block, hands off away from the small world globe, right arm places on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the colorful globe on black stand, place on blue pad.",
+    "Lift the red block, do a handover avoiding the globe sitting on curved black base, then place it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the compact globe with labeled countries, then place on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the small sphere showing earth map, then sets it on blue pad.",
+    "Secure the red block, transfer it away from the globe sitting on curved black base, and drop it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe with curved black base, place blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe featuring bright country colors, set on blue pad.",
+    "Take the red block from the table, hand over away from the small sphere showing earth map, drop on blue pad.",
+    "Left arm lifts red block, handover away from the globe sitting on curved black base, right arm sets it on blue pad.",
+    "Lift the red block, hand it across away from the blue globe, then place it on blue pad.",
+    "Take the red block from the table, pass it clear of the globe sitting on curved black base, and put it on blue pad.",
+    "Left arm take red block, keep the pass away from the colorful globe on black stand, right arm puts on blue pad.",
+    "Grab the red block, transfer it while steering clear of the blue globe, place on blue pad."
+  ],
+  "unseen": [
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings."
+  ]
+}
\ No newline at end of file
diff --git a/handover_block_wp1/handover_block_wp1/instructions/episode94.json b/handover_block_wp1/handover_block_wp1/instructions/episode94.json
new file mode 100644
index 0000000000000000000000000000000000000000..b4359bf4b7734ac60525afef42074261289f44d5
--- /dev/null
+++ b/handover_block_wp1/handover_block_wp1/instructions/episode94.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab red block, pass it along a path clear of the blue globe with colorful continents, place onto blue pad.",
+    "Lift the red block, hand it across away from the earth-shaped globe with black frame, then place it on blue pad.",
+    "Left arm grips red block, hands off away from the globe sitting on curved black base, right arm places on blue pad.",
+    "Lift the red block, do a handover avoiding the compact globe with labeled countries, then place it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe featuring bright country colors, then place on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the hand-sized globe on sturdy stand, place blue pad.",
+    "Pick the red block, keep the transfer away from the small world globe, and place it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the globe with curved black base, then sets it on blue pad.",
+    "Take the red block from the table, hand over away from the blue globe, drop on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the hand-sized globe on sturdy stand, place on blue pad.",
+    "Left arm take red block, keep the pass away from the globe with curved black base, right arm puts on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the blue globe, and place on blue pad.",
+    "Grab the red block, transfer it while steering clear of the colorful globe on black stand, place on blue pad.",
+    "Use left arm to pick red block, avoid the blue sphere with countries marked during handoff, right arm place blue pad.",
+    "Take the red block from the table, pass it clear of the globe with curved black base, and put it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the colorful globe on black stand, then place on blue pad.",
+    "Left arm lifts red block, handover away from the globe with curved black base, right arm sets it on blue pad.",
+    "Secure the red block, transfer it away from the globe sitting on curved black base, and drop it onto the blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe featuring bright country colors, then places on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the colorful globe on black stand, set on blue pad.",
+    "Grab red block, pass it along a path clear of the blue sphere with countries marked, place onto blue pad.",
+    "Lift the red block, hand it across away from the blue sphere with countries marked, then place it on blue pad.",
+    "Left arm grips red block, hands off away from the globe featuring bright country colors, right arm places on blue pad.",
+    "Lift the red block, do a handover avoiding the blue sphere with countries marked, then place it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe sitting on curved black base, then place on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the compact globe with labeled countries, place blue pad.",
+    "Pick the red block, keep the transfer away from the colorful globe on black stand, and place it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the compact globe with labeled countries, then sets it on blue pad.",
+    "Take the red block from the table, hand over away from the small world globe, drop on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the blue globe, place on blue pad.",
+    "Left arm take red block, keep the pass away from the earth-shaped globe with black frame, right arm puts on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe sitting on curved black base, and place on blue pad.",
+    "Grab the red block, transfer it while steering clear of the blue globe, place on blue pad.",
+    "Use left arm to pick red block, avoid the globe featuring bright country colors during handoff, right arm place blue pad.",
+    "Take the red block from the table, pass it clear of the colorful globe on black stand, and put it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the globe with curved black base, then place on blue pad.",
+    "Left arm lifts red block, handover away from the globe featuring bright country colors, right arm sets it on blue pad.",
+    "Secure the red block, transfer it away from the globe featuring bright country colors, and drop it onto the blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the small sphere showing earth map, then places on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the compact globe with labeled countries, set on blue pad.",
+    "Grab red block, pass it along a path clear of the globe featuring bright country colors, place onto blue pad.",
+    "Lift the red block, hand it across away from the small world globe, then place it on blue pad.",
+    "Left arm grips red block, hands off away from the small world globe, right arm places on blue pad.",
+    "Lift the red block, do a handover avoiding the blue sphere with countries marked, then place it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe with curved black base, then place on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the small world globe, place blue pad.",
+    "Pick the red block, keep the transfer away from the compact globe with labeled countries, and place it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the earth-shaped globe with black frame, then sets it on blue pad.",
+    "Take the red block from the table, hand over away from the globe with curved black base, drop on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the compact globe with labeled countries, place on blue pad.",
+    "Left arm take red block, keep the pass away from the globe featuring bright country colors, right arm puts on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the earth-shaped globe with black frame, and place on blue pad.",
+    "Grab the red block, transfer it while steering clear of the compact globe with labeled countries, place on blue pad.",
+    "Use left arm to pick red block, avoid the globe with curved black base during handoff, right arm place blue pad.",
+    "Take the red block from the table, pass it clear of the globe sitting on curved black base, and put it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the blue sphere with countries marked, then place on blue pad.",
+    "Left arm lifts red block, handover away from the blue globe, right arm sets it on blue pad.",
+    "Secure the red block, transfer it away from the globe with curved black base, and drop it onto the blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the small sphere showing earth map, then places on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the blue sphere with countries marked, set on blue pad.",
+    "Grab red block, pass it along a path clear of the blue globe, place onto blue pad.",
+    "Lift the red block, hand it across away from the blue globe with colorful continents, then place it on blue pad.",
+    "Left arm grips red block, hands off away from the globe with curved black base, right arm places on blue pad.",
+    "Lift the red block, do a handover avoiding the colorful globe on black stand, then place it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe sitting on curved black base, then place on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the blue globe, place blue pad.",
+    "Pick the red block, keep the transfer away from the colorful globe on black stand, and place it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the small sphere showing earth map, then sets it on blue pad.",
+    "Take the red block from the table, hand over away from the earth-shaped globe with black frame, drop on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the earth-shaped globe with black frame, place on blue pad.",
+    "Left arm take red block, keep the pass away from the globe featuring bright country colors, right arm puts on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the blue globe, and place on blue pad.",
+    "Grab the red block, transfer it while steering clear of the hand-sized globe on sturdy stand, place on blue pad.",
+    "Use left arm to pick red block, avoid the globe with curved black base during handoff, right arm place blue pad.",
+    "Take the red block from the table, pass it clear of the globe sitting on curved black base, and put it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the hand-sized globe on sturdy stand, then place on blue pad.",
+    "Left arm lifts red block, handover away from the earth-shaped globe with black frame, right arm sets it on blue pad.",
+    "Secure the red block, transfer it away from the small sphere showing earth map, and drop it onto the blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the small sphere showing earth map, then places on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the blue globe with colorful continents, set on blue pad.",
+    "Grab red block, pass it along a path clear of the globe featuring bright country colors, place onto blue pad.",
+    "Lift the red block, hand it across away from the blue globe, then place it on blue pad.",
+    "Left arm grips red block, hands off away from the blue sphere with countries marked, right arm places on blue pad.",
+    "Lift the red block, do a handover avoiding the globe sitting on curved black base, then place it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the blue globe, then place on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the compact globe with labeled countries, place blue pad.",
+    "Pick the red block, keep the transfer away from the small sphere showing earth map, and place it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the small sphere showing earth map, then sets it on blue pad.",
+    "Take the red block from the table, hand over away from the globe featuring bright country colors, drop on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the small sphere showing earth map, place on blue pad.",
+    "Left arm take red block, keep the pass away from the colorful globe on black stand, right arm puts on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the blue globe, and place on blue pad.",
+    "Grab the red block, transfer it while steering clear of the small sphere showing earth map, place on blue pad.",
+    "Use left arm to pick red block, avoid the globe featuring bright country colors during handoff, right arm place blue pad.",
+    "Take the red block from the table, pass it clear of the blue globe, and put it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the colorful globe on black stand, then place on blue pad.",
+    "Left arm lifts red block, handover away from the globe featuring bright country colors, right arm sets it on blue pad.",
+    "Secure the red block, transfer it away from the globe with curved black base, and drop it onto the blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the blue globe, then places on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the blue globe, set on blue pad."
+  ],
+  "unseen": [
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad."
+  ]
+}
\ No newline at end of file
diff --git a/handover_block_wp1/handover_block_wp1/instructions/episode95.json b/handover_block_wp1/handover_block_wp1/instructions/episode95.json
new file mode 100644
index 0000000000000000000000000000000000000000..361d5e0116ea91a0aed6d50991c5dac3606857ba
--- /dev/null
+++ b/handover_block_wp1/handover_block_wp1/instructions/episode95.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the red block, do a handover avoiding the Earth map globe, then place it onto the blue pad.",
+    "Left arm grips red block, hands off away from the spinning brown globe, right arm places on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the beige and brown globe, and place on blue pad.",
+    "Take the red block from the table, pass it clear of the globe with smooth surface, and put it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the Earth map globe, then place on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the Earth map globe, then sets it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the smooth beige globe with continents, then place on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the round globe with sturdy base, then places on blue pad.",
+    "Left arm lifts red block, handover away from the globe with smooth surface, right arm sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe for geographic reference, place blue pad.",
+    "Grab the red block, transfer it while steering clear of the brown globe on black stand, place on blue pad.",
+    "Grab red block, pass it along a path clear of the globe for geographic reference, place onto blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the smooth beige globe with continents, set on blue pad.",
+    "Take the red block from the table, hand over away from the smooth beige globe with continents, drop on blue pad.",
+    "Secure the red block, transfer it away from the round Earth globe, and drop it onto the blue pad.",
+    "Pick the red block, keep the transfer away from the decor piece globe, and place it on blue pad.",
+    "Left arm take red block, keep the pass away from the brown globe on black stand, right arm puts on blue pad.",
+    "Lift the red block, hand it across away from the decor piece globe, then place it on blue pad.",
+    "Use left arm to pick red block, avoid the smooth beige globe with continents during handoff, right arm place blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the wooden globe with metal base, place on blue pad.",
+    "Lift the red block, do a handover avoiding the globe with curved black stand, then place it onto the blue pad.",
+    "Left arm grips red block, hands off away from the decor piece globe, right arm places on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the round Earth globe, and place on blue pad.",
+    "Take the red block from the table, pass it clear of the beige and brown globe, and put it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the Earth map globe, then place on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the globe with curved black stand, then sets it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the Earth map globe, then place on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the Earth map globe, then places on blue pad.",
+    "Left arm lifts red block, handover away from the globe for geographic reference, right arm sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the Earth map globe, place blue pad.",
+    "Grab the red block, transfer it while steering clear of the round Earth globe, place on blue pad.",
+    "Grab red block, pass it along a path clear of the globe for geographic reference, place onto blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the beige and brown globe, set on blue pad.",
+    "Take the red block from the table, hand over away from the Earth map globe, drop on blue pad.",
+    "Secure the red block, transfer it away from the decor piece globe, and drop it onto the blue pad.",
+    "Pick the red block, keep the transfer away from the globe for geographic reference, and place it on blue pad.",
+    "Left arm take red block, keep the pass away from the globe with smooth surface, right arm puts on blue pad.",
+    "Lift the red block, hand it across away from the spinning brown globe, then place it on blue pad.",
+    "Use left arm to pick red block, avoid the Earth map globe during handoff, right arm place blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the round Earth globe, place on blue pad.",
+    "Lift the red block, do a handover avoiding the globe with curved black stand, then place it onto the blue pad.",
+    "Left arm grips red block, hands off away from the spinning brown globe, right arm places on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe with smooth surface, and place on blue pad.",
+    "Take the red block from the table, pass it clear of the globe with smooth surface, and put it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the beige and brown globe, then place on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the wooden globe with metal base, then sets it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the round Earth globe, then place on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the round Earth globe, then places on blue pad.",
+    "Left arm lifts red block, handover away from the Earth map globe, right arm sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the decor piece globe, place blue pad.",
+    "Grab the red block, transfer it while steering clear of the globe with smooth surface, place on blue pad.",
+    "Grab red block, pass it along a path clear of the beige and brown globe, place onto blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the wooden globe with metal base, set on blue pad.",
+    "Take the red block from the table, hand over away from the decor piece globe, drop on blue pad.",
+    "Secure the red block, transfer it away from the spinning brown globe, and drop it onto the blue pad.",
+    "Pick the red block, keep the transfer away from the round globe with sturdy base, and place it on blue pad.",
+    "Left arm take red block, keep the pass away from the wooden globe with metal base, right arm puts on blue pad.",
+    "Lift the red block, hand it across away from the Earth map globe, then place it on blue pad.",
+    "Use left arm to pick red block, avoid the globe with smooth surface during handoff, right arm place blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the round Earth globe, place on blue pad.",
+    "Lift the red block, do a handover avoiding the wooden globe with metal base, then place it onto the blue pad.",
+    "Left arm grips red block, hands off away from the smooth beige globe with continents, right arm places on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the decor piece globe, and place on blue pad.",
+    "Take the red block from the table, pass it clear of the brown globe on black stand, and put it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe for geographic reference, then place on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the round Earth globe, then sets it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the round Earth globe, then place on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the smooth beige globe with continents, then places on blue pad.",
+    "Left arm lifts red block, handover away from the smooth beige globe with continents, right arm sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the wooden globe with metal base, place blue pad.",
+    "Grab the red block, transfer it while steering clear of the wooden globe with metal base, place on blue pad.",
+    "Grab red block, pass it along a path clear of the decor piece globe, place onto blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the round globe with sturdy base, set on blue pad.",
+    "Take the red block from the table, hand over away from the round Earth globe, drop on blue pad.",
+    "Secure the red block, transfer it away from the round globe with sturdy base, and drop it onto the blue pad.",
+    "Pick the red block, keep the transfer away from the spinning brown globe, and place it on blue pad.",
+    "Left arm take red block, keep the pass away from the globe with smooth surface, right arm puts on blue pad.",
+    "Lift the red block, hand it across away from the globe for geographic reference, then place it on blue pad.",
+    "Use left arm to pick red block, avoid the globe with curved black stand during handoff, right arm place blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the smooth beige globe with continents, place on blue pad.",
+    "Lift the red block, do a handover avoiding the Earth map globe, then place it onto the blue pad.",
+    "Left arm grips red block, hands off away from the globe with curved black stand, right arm places on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe with curved black stand, and place on blue pad.",
+    "Take the red block from the table, pass it clear of the decor piece globe, and put it on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe for geographic reference, then place on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the globe with smooth surface, then sets it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the round globe with sturdy base, then place on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the Earth map globe, then places on blue pad.",
+    "Left arm lifts red block, handover away from the decor piece globe, right arm sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the Earth map globe, place blue pad.",
+    "Grab the red block, transfer it while steering clear of the globe with curved black stand, place on blue pad.",
+    "Grab red block, pass it along a path clear of the beige and brown globe, place onto blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe with smooth surface, set on blue pad.",
+    "Take the red block from the table, hand over away from the globe for geographic reference, drop on blue pad.",
+    "Secure the red block, transfer it away from the Earth map globe, and drop it onto the blue pad.",
+    "Pick the red block, keep the transfer away from the globe for geographic reference, and place it on blue pad.",
+    "Left arm take red block, keep the pass away from the wooden globe with metal base, right arm puts on blue pad.",
+    "Lift the red block, hand it across away from the beige and brown globe, then place it on blue pad.",
+    "Use left arm to pick red block, avoid the globe for geographic reference during handoff, right arm place blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe with curved black stand, place on blue pad."
+  ],
+  "unseen": [
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad."
+  ]
+}
\ No newline at end of file
diff --git a/handover_block_wp1/handover_block_wp1/instructions/episode96.json b/handover_block_wp1/handover_block_wp1/instructions/episode96.json
new file mode 100644
index 0000000000000000000000000000000000000000..e2d36223bffb3d290e771f2abb17912fde9fe1bb
--- /dev/null
+++ b/handover_block_wp1/handover_block_wp1/instructions/episode96.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the red block, hand it over while keeping clear of the colorful globe on black stand, then place on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the blue globe with colorful continents, then places on blue pad.",
+    "Lift the red block, hand it across away from the globe sitting on curved black base, then place it on blue pad.",
+    "Left arm take red block, keep the pass away from the blue globe, right arm puts on blue pad.",
+    "Left arm grips red block, hands off away from the earth-shaped globe with black frame, right arm places on blue pad.",
+    "Grab red block, pass it along a path clear of the blue sphere with countries marked, place onto blue pad.",
+    "Pick up the red block, transfer it while staying clear of the blue sphere with countries marked, and place on blue pad.",
+    "Use left arm to pick red block, avoid the blue globe during handoff, right arm place blue pad.",
+    "Take the red block from the table, pass it clear of the blue globe with colorful continents, and put it on blue pad.",
+    "Take the red block from the table, hand over away from the blue globe, drop on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the small sphere showing earth map, place on blue pad.",
+    "Left arm lifts red block, handover away from the globe with curved black base, right arm sets it on blue pad.",
+    "Secure the red block, transfer it away from the globe sitting on curved black base, and drop it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the small sphere showing earth map, then place on blue pad.",
+    "Pick the red block, keep the transfer away from the small sphere showing earth map, and place it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the small world globe, set on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe sitting on curved black base, place blue pad.",
+    "Lift the red block, do a handover avoiding the blue sphere with countries marked, then place it onto the blue pad.",
+    "Grab the red block, transfer it while steering clear of the small sphere showing earth map, place on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the globe sitting on curved black base, then sets it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the colorful globe on black stand, then place on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the hand-sized globe on sturdy stand, then places on blue pad.",
+    "Lift the red block, hand it across away from the globe featuring bright country colors, then place it on blue pad.",
+    "Left arm take red block, keep the pass away from the colorful globe on black stand, right arm puts on blue pad.",
+    "Left arm grips red block, hands off away from the hand-sized globe on sturdy stand, right arm places on blue pad.",
+    "Grab red block, pass it along a path clear of the globe with curved black base, place onto blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe sitting on curved black base, and place on blue pad.",
+    "Use left arm to pick red block, avoid the earth-shaped globe with black frame during handoff, right arm place blue pad.",
+    "Take the red block from the table, pass it clear of the blue globe, and put it on blue pad.",
+    "Take the red block from the table, hand over away from the blue globe, drop on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the blue globe, place on blue pad.",
+    "Left arm lifts red block, handover away from the earth-shaped globe with black frame, right arm sets it on blue pad.",
+    "Secure the red block, transfer it away from the blue globe, and drop it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the hand-sized globe on sturdy stand, then place on blue pad.",
+    "Pick the red block, keep the transfer away from the globe sitting on curved black base, and place it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe with curved black base, set on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the small sphere showing earth map, place blue pad.",
+    "Lift the red block, do a handover avoiding the earth-shaped globe with black frame, then place it onto the blue pad.",
+    "Grab the red block, transfer it while steering clear of the blue globe, place on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the earth-shaped globe with black frame, then sets it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the globe sitting on curved black base, then place on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the hand-sized globe on sturdy stand, then places on blue pad.",
+    "Lift the red block, hand it across away from the hand-sized globe on sturdy stand, then place it on blue pad.",
+    "Left arm take red block, keep the pass away from the small world globe, right arm puts on blue pad.",
+    "Left arm grips red block, hands off away from the globe sitting on curved black base, right arm places on blue pad.",
+    "Grab red block, pass it along a path clear of the compact globe with labeled countries, place onto blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe featuring bright country colors, and place on blue pad.",
+    "Use left arm to pick red block, avoid the earth-shaped globe with black frame during handoff, right arm place blue pad.",
+    "Take the red block from the table, pass it clear of the compact globe with labeled countries, and put it on blue pad.",
+    "Take the red block from the table, hand over away from the globe with curved black base, drop on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the earth-shaped globe with black frame, place on blue pad.",
+    "Left arm lifts red block, handover away from the globe sitting on curved black base, right arm sets it on blue pad.",
+    "Secure the red block, transfer it away from the small sphere showing earth map, and drop it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the hand-sized globe on sturdy stand, then place on blue pad.",
+    "Pick the red block, keep the transfer away from the blue sphere with countries marked, and place it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the small sphere showing earth map, set on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the small world globe, place blue pad.",
+    "Lift the red block, do a handover avoiding the blue globe with colorful continents, then place it onto the blue pad.",
+    "Grab the red block, transfer it while steering clear of the hand-sized globe on sturdy stand, place on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the compact globe with labeled countries, then sets it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the globe featuring bright country colors, then place on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe with curved black base, then places on blue pad.",
+    "Lift the red block, hand it across away from the small world globe, then place it on blue pad.",
+    "Left arm take red block, keep the pass away from the small sphere showing earth map, right arm puts on blue pad.",
+    "Left arm grips red block, hands off away from the blue sphere with countries marked, right arm places on blue pad.",
+    "Grab red block, pass it along a path clear of the compact globe with labeled countries, place onto blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe with curved black base, and place on blue pad.",
+    "Use left arm to pick red block, avoid the globe featuring bright country colors during handoff, right arm place blue pad.",
+    "Take the red block from the table, pass it clear of the globe with curved black base, and put it on blue pad.",
+    "Take the red block from the table, hand over away from the compact globe with labeled countries, drop on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the small world globe, place on blue pad.",
+    "Left arm lifts red block, handover away from the blue globe, right arm sets it on blue pad.",
+    "Secure the red block, transfer it away from the blue sphere with countries marked, and drop it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the small world globe, then place on blue pad.",
+    "Pick the red block, keep the transfer away from the globe featuring bright country colors, and place it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the earth-shaped globe with black frame, set on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe with curved black base, place blue pad.",
+    "Lift the red block, do a handover avoiding the blue globe with colorful continents, then place it onto the blue pad.",
+    "Grab the red block, transfer it while steering clear of the globe featuring bright country colors, place on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the compact globe with labeled countries, then sets it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the blue globe, then place on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the earth-shaped globe with black frame, then places on blue pad.",
+    "Lift the red block, hand it across away from the globe with curved black base, then place it on blue pad.",
+    "Left arm take red block, keep the pass away from the hand-sized globe on sturdy stand, right arm puts on blue pad.",
+    "Left arm grips red block, hands off away from the globe sitting on curved black base, right arm places on blue pad.",
+    "Grab red block, pass it along a path clear of the colorful globe on black stand, place onto blue pad.",
+    "Pick up the red block, transfer it while staying clear of the small sphere showing earth map, and place on blue pad.",
+    "Use left arm to pick red block, avoid the compact globe with labeled countries during handoff, right arm place blue pad.",
+    "Take the red block from the table, pass it clear of the blue sphere with countries marked, and put it on blue pad.",
+    "Take the red block from the table, hand over away from the blue sphere with countries marked, drop on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the small sphere showing earth map, place on blue pad.",
+    "Left arm lifts red block, handover away from the small world globe, right arm sets it on blue pad.",
+    "Secure the red block, transfer it away from the colorful globe on black stand, and drop it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the blue globe, then place on blue pad.",
+    "Pick the red block, keep the transfer away from the blue globe with colorful continents, and place it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the small sphere showing earth map, set on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the earth-shaped globe with black frame, place blue pad.",
+    "Lift the red block, do a handover avoiding the small world globe, then place it onto the blue pad.",
+    "Grab the red block, transfer it while steering clear of the small sphere showing earth map, place on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the colorful globe on black stand, then sets it on blue pad."
+  ],
+  "unseen": [
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad."
+  ]
+}
\ No newline at end of file
diff --git a/handover_block_wp1/handover_block_wp1/instructions/episode97.json b/handover_block_wp1/handover_block_wp1/instructions/episode97.json
new file mode 100644
index 0000000000000000000000000000000000000000..eecb0680ffe9c47aebe5d02945efc472b6dadd2a
--- /dev/null
+++ b/handover_block_wp1/handover_block_wp1/instructions/episode97.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the red block from the table, hand over away from the round Earth globe, drop on blue pad.",
+    "Left arm grips red block, hands off away from the spinning brown globe, right arm places on blue pad.",
+    "Grab the red block, transfer it while steering clear of the smooth beige globe with continents, place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the smooth beige globe with continents, place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the spinning brown globe, and place on blue pad.",
+    "Pick the red block, keep the transfer away from the brown globe on black stand, and place it on blue pad.",
+    "Left arm lifts red block, handover away from the globe for geographic reference, right arm sets it on blue pad.",
+    "Take the red block from the table, pass it clear of the beige and brown globe, and put it on blue pad.",
+    "Lift the red block, do a handover avoiding the round globe with sturdy base, then place it onto the blue pad.",
+    "Left arm take red block, keep the pass away from the round globe with sturdy base, right arm puts on blue pad.",
+    "Lift the red block, hand it across away from the brown globe on black stand, then place it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the round globe with sturdy base, set on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the spinning brown globe, then place on blue pad.",
+    "Secure the red block, transfer it away from the decor piece globe, and drop it onto the blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe with curved black stand, then places on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the wooden globe with metal base, place blue pad.",
+    "Left arm grabs red block, right arm receives it away from the Earth map globe, then sets it on blue pad.",
+    "Grab red block, pass it along a path clear of the beige and brown globe, place onto blue pad.",
+    "Use left arm to pick red block, avoid the smooth beige globe with continents during handoff, right arm place blue pad.",
+    "Pick the red block, hand it over while keeping clear of the spinning brown globe, then place on blue pad.",
+    "Take the red block from the table, hand over away from the decor piece globe, drop on blue pad.",
+    "Left arm grips red block, hands off away from the round Earth globe, right arm places on blue pad.",
+    "Grab the red block, transfer it while steering clear of the smooth beige globe with continents, place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the round Earth globe, place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe with curved black stand, and place on blue pad.",
+    "Pick the red block, keep the transfer away from the spinning brown globe, and place it on blue pad.",
+    "Left arm lifts red block, handover away from the wooden globe with metal base, right arm sets it on blue pad.",
+    "Take the red block from the table, pass it clear of the brown globe on black stand, and put it on blue pad.",
+    "Lift the red block, do a handover avoiding the spinning brown globe, then place it onto the blue pad.",
+    "Left arm take red block, keep the pass away from the spinning brown globe, right arm puts on blue pad.",
+    "Lift the red block, hand it across away from the globe with curved black stand, then place it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the round Earth globe, set on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the wooden globe with metal base, then place on blue pad.",
+    "Secure the red block, transfer it away from the round Earth globe, and drop it onto the blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the wooden globe with metal base, then places on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe with smooth surface, place blue pad.",
+    "Left arm grabs red block, right arm receives it away from the wooden globe with metal base, then sets it on blue pad.",
+    "Grab red block, pass it along a path clear of the round Earth globe, place onto blue pad.",
+    "Use left arm to pick red block, avoid the spinning brown globe during handoff, right arm place blue pad.",
+    "Pick the red block, hand it over while keeping clear of the Earth map globe, then place on blue pad.",
+    "Take the red block from the table, hand over away from the decor piece globe, drop on blue pad.",
+    "Left arm grips red block, hands off away from the beige and brown globe, right arm places on blue pad.",
+    "Grab the red block, transfer it while steering clear of the beige and brown globe, place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe for geographic reference, place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the beige and brown globe, and place on blue pad.",
+    "Pick the red block, keep the transfer away from the smooth beige globe with continents, and place it on blue pad.",
+    "Left arm lifts red block, handover away from the brown globe on black stand, right arm sets it on blue pad.",
+    "Take the red block from the table, pass it clear of the beige and brown globe, and put it on blue pad.",
+    "Lift the red block, do a handover avoiding the globe for geographic reference, then place it onto the blue pad.",
+    "Left arm take red block, keep the pass away from the beige and brown globe, right arm puts on blue pad.",
+    "Lift the red block, hand it across away from the spinning brown globe, then place it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the brown globe on black stand, set on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the round globe with sturdy base, then place on blue pad.",
+    "Secure the red block, transfer it away from the decor piece globe, and drop it onto the blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the spinning brown globe, then places on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the wooden globe with metal base, place blue pad.",
+    "Left arm grabs red block, right arm receives it away from the round Earth globe, then sets it on blue pad.",
+    "Grab red block, pass it along a path clear of the decor piece globe, place onto blue pad.",
+    "Use left arm to pick red block, avoid the brown globe on black stand during handoff, right arm place blue pad.",
+    "Pick the red block, hand it over while keeping clear of the decor piece globe, then place on blue pad.",
+    "Take the red block from the table, hand over away from the round globe with sturdy base, drop on blue pad.",
+    "Left arm grips red block, hands off away from the round Earth globe, right arm places on blue pad.",
+    "Grab the red block, transfer it while steering clear of the round globe with sturdy base, place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the smooth beige globe with continents, place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the spinning brown globe, and place on blue pad.",
+    "Pick the red block, keep the transfer away from the wooden globe with metal base, and place it on blue pad.",
+    "Left arm lifts red block, handover away from the smooth beige globe with continents, right arm sets it on blue pad.",
+    "Take the red block from the table, pass it clear of the Earth map globe, and put it on blue pad.",
+    "Lift the red block, do a handover avoiding the smooth beige globe with continents, then place it onto the blue pad.",
+    "Left arm take red block, keep the pass away from the Earth map globe, right arm puts on blue pad.",
+    "Lift the red block, hand it across away from the globe with curved black stand, then place it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the decor piece globe, set on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe with smooth surface, then place on blue pad.",
+    "Secure the red block, transfer it away from the globe with smooth surface, and drop it onto the blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe with curved black stand, then places on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe with curved black stand, place blue pad.",
+    "Left arm grabs red block, right arm receives it away from the beige and brown globe, then sets it on blue pad.",
+    "Grab red block, pass it along a path clear of the Earth map globe, place onto blue pad.",
+    "Use left arm to pick red block, avoid the brown globe on black stand during handoff, right arm place blue pad.",
+    "Pick the red block, hand it over while keeping clear of the round Earth globe, then place on blue pad.",
+    "Take the red block from the table, hand over away from the smooth beige globe with continents, drop on blue pad.",
+    "Left arm grips red block, hands off away from the brown globe on black stand, right arm places on blue pad.",
+    "Grab the red block, transfer it while steering clear of the Earth map globe, place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe for geographic reference, place on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe with curved black stand, and place on blue pad.",
+    "Pick the red block, keep the transfer away from the decor piece globe, and place it on blue pad.",
+    "Left arm lifts red block, handover away from the globe for geographic reference, right arm sets it on blue pad.",
+    "Take the red block from the table, pass it clear of the beige and brown globe, and put it on blue pad.",
+    "Lift the red block, do a handover avoiding the wooden globe with metal base, then place it onto the blue pad.",
+    "Left arm take red block, keep the pass away from the round Earth globe, right arm puts on blue pad.",
+    "Lift the red block, hand it across away from the wooden globe with metal base, then place it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe with smooth surface, set on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the spinning brown globe, then place on blue pad.",
+    "Secure the red block, transfer it away from the Earth map globe, and drop it onto the blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the round Earth globe, then places on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe with smooth surface, place blue pad.",
+    "Left arm grabs red block, right arm receives it away from the brown globe on black stand, then sets it on blue pad.",
+    "Grab red block, pass it along a path clear of the globe with curved black stand, place onto blue pad.",
+    "Use left arm to pick red block, avoid the round globe with sturdy base during handoff, right arm place blue pad.",
+    "Pick the red block, hand it over while keeping clear of the globe with smooth surface, then place on blue pad."
+  ],
+  "unseen": [
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe."
+  ]
+}
\ No newline at end of file
diff --git a/handover_block_wp1/handover_block_wp1/instructions/episode98.json b/handover_block_wp1/handover_block_wp1/instructions/episode98.json
new file mode 100644
index 0000000000000000000000000000000000000000..0da5cc589ad0d5b34c0c68fbd25c9ff7828b1e2f
--- /dev/null
+++ b/handover_block_wp1/handover_block_wp1/instructions/episode98.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the red block from the table, pass it clear of the small sphere showing earth map, and put it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the blue globe with colorful continents, then sets it on blue pad.",
+    "Lift the red block, hand it across away from the blue globe, then place it on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the small world globe, and place on blue pad.",
+    "Left arm take red block, keep the pass away from the earth-shaped globe with black frame, right arm puts on blue pad.",
+    "Grab red block, pass it along a path clear of the globe with curved black base, place onto blue pad.",
+    "Left arm grips red block, hands off away from the globe sitting on curved black base, right arm places on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the colorful globe on black stand, then place on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the earth-shaped globe with black frame, then places on blue pad.",
+    "Lift the red block, do a handover avoiding the blue sphere with countries marked, then place it onto the blue pad.",
+    "Left arm lifts red block, handover away from the blue globe, right arm sets it on blue pad.",
+    "Pick the red block, keep the transfer away from the globe sitting on curved black base, and place it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the compact globe with labeled countries, place on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the earth-shaped globe with black frame, place blue pad.",
+    "Take the red block from the table, hand over away from the globe with curved black base, drop on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the blue globe with colorful continents, then place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the small sphere showing earth map, place on blue pad.",
+    "Secure the red block, transfer it away from the compact globe with labeled countries, and drop it onto the blue pad.",
+    "Use left arm to pick red block, avoid the blue globe during handoff, right arm place blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the small world globe, set on blue pad.",
+    "Take the red block from the table, pass it clear of the small world globe, and put it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the small sphere showing earth map, then sets it on blue pad.",
+    "Lift the red block, hand it across away from the globe sitting on curved black base, then place it on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the small sphere showing earth map, and place on blue pad.",
+    "Left arm take red block, keep the pass away from the globe with curved black base, right arm puts on blue pad.",
+    "Grab red block, pass it along a path clear of the hand-sized globe on sturdy stand, place onto blue pad.",
+    "Left arm grips red block, hands off away from the colorful globe on black stand, right arm places on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the globe sitting on curved black base, then place on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe featuring bright country colors, then places on blue pad.",
+    "Lift the red block, do a handover avoiding the globe with curved black base, then place it onto the blue pad.",
+    "Left arm lifts red block, handover away from the blue sphere with countries marked, right arm sets it on blue pad.",
+    "Pick the red block, keep the transfer away from the globe sitting on curved black base, and place it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the earth-shaped globe with black frame, place on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the small world globe, place blue pad.",
+    "Take the red block from the table, hand over away from the blue globe with colorful continents, drop on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the compact globe with labeled countries, then place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the blue sphere with countries marked, place on blue pad.",
+    "Secure the red block, transfer it away from the earth-shaped globe with black frame, and drop it onto the blue pad.",
+    "Use left arm to pick red block, avoid the blue sphere with countries marked during handoff, right arm place blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the earth-shaped globe with black frame, set on blue pad.",
+    "Take the red block from the table, pass it clear of the hand-sized globe on sturdy stand, and put it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the earth-shaped globe with black frame, then sets it on blue pad.",
+    "Lift the red block, hand it across away from the small world globe, then place it on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe featuring bright country colors, and place on blue pad.",
+    "Left arm take red block, keep the pass away from the hand-sized globe on sturdy stand, right arm puts on blue pad.",
+    "Grab red block, pass it along a path clear of the small sphere showing earth map, place onto blue pad.",
+    "Left arm grips red block, hands off away from the blue globe with colorful continents, right arm places on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the hand-sized globe on sturdy stand, then place on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the small sphere showing earth map, then places on blue pad.",
+    "Lift the red block, do a handover avoiding the colorful globe on black stand, then place it onto the blue pad.",
+    "Left arm lifts red block, handover away from the small world globe, right arm sets it on blue pad.",
+    "Pick the red block, keep the transfer away from the blue sphere with countries marked, and place it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the blue globe with colorful continents, place on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the small sphere showing earth map, place blue pad.",
+    "Take the red block from the table, hand over away from the globe sitting on curved black base, drop on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the small world globe, then place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the blue globe with colorful continents, place on blue pad.",
+    "Secure the red block, transfer it away from the earth-shaped globe with black frame, and drop it onto the blue pad.",
+    "Use left arm to pick red block, avoid the blue globe with colorful continents during handoff, right arm place blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe sitting on curved black base, set on blue pad.",
+    "Take the red block from the table, pass it clear of the globe with curved black base, and put it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the blue globe, then sets it on blue pad.",
+    "Lift the red block, hand it across away from the small world globe, then place it on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe sitting on curved black base, and place on blue pad.",
+    "Left arm take red block, keep the pass away from the blue globe with colorful continents, right arm puts on blue pad.",
+    "Grab red block, pass it along a path clear of the small world globe, place onto blue pad.",
+    "Left arm grips red block, hands off away from the small sphere showing earth map, right arm places on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the hand-sized globe on sturdy stand, then place on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the compact globe with labeled countries, then places on blue pad.",
+    "Lift the red block, do a handover avoiding the blue globe with colorful continents, then place it onto the blue pad.",
+    "Left arm lifts red block, handover away from the blue sphere with countries marked, right arm sets it on blue pad.",
+    "Pick the red block, keep the transfer away from the blue sphere with countries marked, and place it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the globe sitting on curved black base, place on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the small world globe, place blue pad.",
+    "Take the red block from the table, hand over away from the colorful globe on black stand, drop on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the small world globe, then place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe featuring bright country colors, place on blue pad.",
+    "Secure the red block, transfer it away from the compact globe with labeled countries, and drop it onto the blue pad.",
+    "Use left arm to pick red block, avoid the globe with curved black base during handoff, right arm place blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the colorful globe on black stand, set on blue pad.",
+    "Take the red block from the table, pass it clear of the globe sitting on curved black base, and put it on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the blue globe with colorful continents, then sets it on blue pad.",
+    "Lift the red block, hand it across away from the blue globe with colorful continents, then place it on blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe sitting on curved black base, and place on blue pad.",
+    "Left arm take red block, keep the pass away from the globe featuring bright country colors, right arm puts on blue pad.",
+    "Grab red block, pass it along a path clear of the blue globe with colorful continents, place onto blue pad.",
+    "Left arm grips red block, hands off away from the blue globe with colorful continents, right arm places on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the hand-sized globe on sturdy stand, then place on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe featuring bright country colors, then places on blue pad.",
+    "Lift the red block, do a handover avoiding the globe featuring bright country colors, then place it onto the blue pad.",
+    "Left arm lifts red block, handover away from the globe sitting on curved black base, right arm sets it on blue pad.",
+    "Pick the red block, keep the transfer away from the blue globe with colorful continents, and place it on blue pad.",
+    "Grab the red block, transfer it while steering clear of the globe featuring bright country colors, place on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe featuring bright country colors, place blue pad.",
+    "Take the red block from the table, hand over away from the colorful globe on black stand, drop on blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe featuring bright country colors, then place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe sitting on curved black base, place on blue pad.",
+    "Secure the red block, transfer it away from the compact globe with labeled countries, and drop it onto the blue pad.",
+    "Use left arm to pick red block, avoid the globe featuring bright country colors during handoff, right arm place blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the blue globe with colorful continents, set on blue pad."
+  ],
+  "unseen": [
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the globe with clear ocean markings, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the globe with clear ocean markings, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the smooth blue globe with stand, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the ball-shaped globe with metal holder, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the smooth blue globe with stand.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the globe with clear ocean markings, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the smooth blue globe with stand, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the globe with clear ocean markings.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad.",
+    "Use left arm to grab the red block, pass to right arm, avoid the ball-shaped globe with metal holder, place on blue pad.",
+    "Pick up the red block, hand it over safely away from the smooth blue globe with stand, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the ball-shaped globe with metal holder.",
+    "Grab the red block, hand it over away from the ball-shaped globe with metal holder, then set it on the blue pad."
+  ]
+}
\ No newline at end of file
diff --git a/handover_block_wp1/handover_block_wp1/instructions/episode99.json b/handover_block_wp1/handover_block_wp1/instructions/episode99.json
new file mode 100644
index 0000000000000000000000000000000000000000..69c1d1ef26bbffef8922bed03231a747d4ab20a8
--- /dev/null
+++ b/handover_block_wp1/handover_block_wp1/instructions/episode99.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the red block from the table, pass it clear of the wooden globe with metal base, and put it on blue pad.",
+    "Take the red block from the table, hand over away from the globe for geographic reference, drop on blue pad.",
+    "Grab red block, pass it along a path clear of the globe with curved black stand, place onto blue pad.",
+    "Pick up the red block, transfer it while staying clear of the beige and brown globe, and place on blue pad.",
+    "Use left arm to pick red block, avoid the globe for geographic reference during handoff, right arm place blue pad.",
+    "Lift the red block, hand it across away from the round globe with sturdy base, then place it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the wooden globe with metal base, then place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe with smooth surface, place on blue pad.",
+    "Left arm grips red block, hands off away from the globe with curved black stand, right arm places on blue pad.",
+    "Lift the red block, do a handover avoiding the beige and brown globe, then place it onto the blue pad.",
+    "Left arm take red block, keep the pass away from the globe with curved black stand, right arm puts on blue pad.",
+    "Left arm lifts red block, handover away from the smooth beige globe with continents, right arm sets it on blue pad.",
+    "Secure the red block, transfer it away from the decor piece globe, and drop it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the smooth beige globe with continents, then place on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the globe for geographic reference, then places on blue pad.",
+    "Grab the red block, transfer it while steering clear of the smooth beige globe with continents, place on blue pad.",
+    "Pick the red block, keep the transfer away from the spinning brown globe, and place it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the brown globe on black stand, set on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the globe for geographic reference, then sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe with curved black stand, place blue pad.",
+    "Take the red block from the table, pass it clear of the round Earth globe, and put it on blue pad.",
+    "Take the red block from the table, hand over away from the globe for geographic reference, drop on blue pad.",
+    "Grab red block, pass it along a path clear of the globe with smooth surface, place onto blue pad.",
+    "Pick up the red block, transfer it while staying clear of the decor piece globe, and place on blue pad.",
+    "Use left arm to pick red block, avoid the smooth beige globe with continents during handoff, right arm place blue pad.",
+    "Lift the red block, hand it across away from the smooth beige globe with continents, then place it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the globe with curved black stand, then place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe with curved black stand, place on blue pad.",
+    "Left arm grips red block, hands off away from the globe for geographic reference, right arm places on blue pad.",
+    "Lift the red block, do a handover avoiding the round Earth globe, then place it onto the blue pad.",
+    "Left arm take red block, keep the pass away from the round Earth globe, right arm puts on blue pad.",
+    "Left arm lifts red block, handover away from the decor piece globe, right arm sets it on blue pad.",
+    "Secure the red block, transfer it away from the round globe with sturdy base, and drop it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the round Earth globe, then place on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the decor piece globe, then places on blue pad.",
+    "Grab the red block, transfer it while steering clear of the globe with smooth surface, place on blue pad.",
+    "Pick the red block, keep the transfer away from the smooth beige globe with continents, and place it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe with smooth surface, set on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the beige and brown globe, then sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the smooth beige globe with continents, place blue pad.",
+    "Take the red block from the table, pass it clear of the decor piece globe, and put it on blue pad.",
+    "Take the red block from the table, hand over away from the globe with curved black stand, drop on blue pad.",
+    "Grab red block, pass it along a path clear of the decor piece globe, place onto blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe for geographic reference, and place on blue pad.",
+    "Use left arm to pick red block, avoid the globe with smooth surface during handoff, right arm place blue pad.",
+    "Lift the red block, hand it across away from the globe with curved black stand, then place it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the globe with curved black stand, then place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the round Earth globe, place on blue pad.",
+    "Left arm grips red block, hands off away from the smooth beige globe with continents, right arm places on blue pad.",
+    "Lift the red block, do a handover avoiding the wooden globe with metal base, then place it onto the blue pad.",
+    "Left arm take red block, keep the pass away from the globe for geographic reference, right arm puts on blue pad.",
+    "Left arm lifts red block, handover away from the globe for geographic reference, right arm sets it on blue pad.",
+    "Secure the red block, transfer it away from the brown globe on black stand, and drop it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the globe for geographic reference, then place on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the spinning brown globe, then places on blue pad.",
+    "Grab the red block, transfer it while steering clear of the globe for geographic reference, place on blue pad.",
+    "Pick the red block, keep the transfer away from the Earth map globe, and place it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the Earth map globe, set on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the decor piece globe, then sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the globe for geographic reference, place blue pad.",
+    "Take the red block from the table, pass it clear of the beige and brown globe, and put it on blue pad.",
+    "Take the red block from the table, hand over away from the decor piece globe, drop on blue pad.",
+    "Grab red block, pass it along a path clear of the round Earth globe, place onto blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe for geographic reference, and place on blue pad.",
+    "Use left arm to pick red block, avoid the Earth map globe during handoff, right arm place blue pad.",
+    "Lift the red block, hand it across away from the round globe with sturdy base, then place it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the beige and brown globe, then place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the wooden globe with metal base, place on blue pad.",
+    "Left arm grips red block, hands off away from the smooth beige globe with continents, right arm places on blue pad.",
+    "Lift the red block, do a handover avoiding the brown globe on black stand, then place it onto the blue pad.",
+    "Left arm take red block, keep the pass away from the Earth map globe, right arm puts on blue pad.",
+    "Left arm lifts red block, handover away from the decor piece globe, right arm sets it on blue pad.",
+    "Secure the red block, transfer it away from the globe with smooth surface, and drop it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the Earth map globe, then place on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the spinning brown globe, then places on blue pad.",
+    "Grab the red block, transfer it while steering clear of the spinning brown globe, place on blue pad.",
+    "Pick the red block, keep the transfer away from the beige and brown globe, and place it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the globe with curved black stand, set on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the round globe with sturdy base, then sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the round Earth globe, place blue pad.",
+    "Take the red block from the table, pass it clear of the round Earth globe, and put it on blue pad.",
+    "Take the red block from the table, hand over away from the round Earth globe, drop on blue pad.",
+    "Grab red block, pass it along a path clear of the spinning brown globe, place onto blue pad.",
+    "Pick up the red block, transfer it while staying clear of the globe with curved black stand, and place on blue pad.",
+    "Use left arm to pick red block, avoid the round globe with sturdy base during handoff, right arm place blue pad.",
+    "Lift the red block, hand it across away from the round globe with sturdy base, then place it on blue pad.",
+    "Pick the red block, hand it over while keeping clear of the round Earth globe, then place on blue pad.",
+    "Use left arm to pick red block, pass to right arm clear of the globe with curved black stand, place on blue pad.",
+    "Left arm grips red block, hands off away from the Earth map globe, right arm places on blue pad.",
+    "Lift the red block, do a handover avoiding the smooth beige globe with continents, then place it onto the blue pad.",
+    "Left arm take red block, keep the pass away from the round Earth globe, right arm puts on blue pad.",
+    "Left arm lifts red block, handover away from the round Earth globe, right arm sets it on blue pad.",
+    "Secure the red block, transfer it away from the spinning brown globe, and drop it onto the blue pad.",
+    "With left arm, lift red block, hand to right arm avoiding the decor piece globe, then place on blue pad.",
+    "Left arm takes the red block, hands it to right arm avoiding the brown globe on black stand, then places on blue pad.",
+    "Grab the red block, transfer it while steering clear of the beige and brown globe, place on blue pad.",
+    "Pick the red block, keep the transfer away from the globe with curved black stand, and place it on blue pad.",
+    "Use left arm to grasp red block, pass to right arm away from the round Earth globe, set on blue pad.",
+    "Left arm grabs red block, right arm receives it away from the brown globe on black stand, then sets it on blue pad.",
+    "With left arm, lift red block, hand to right arm away from the round globe with sturdy base, place blue pad."
+  ],
+  "unseen": [
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the tabletop globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the brown globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the medium-sized rotating globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the tabletop globe, place on blue pad.",
+    "Grab the red block, hand it over away from the medium-sized rotating globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the brown globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the brown globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the medium-sized rotating globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad.",
+    "Grab the red block, hand it over away from the tabletop globe, then set it on the blue pad.",
+    "Pick up the red block, hand it over safely away from the tabletop globe, set on blue pad.",
+    "Left arm grab red block, pass to right arm, place on blue pad, avoid the brown globe.",
+    "Use left arm to grab the red block, pass to right arm, avoid the medium-sized rotating globe, place on blue pad."
+  ]
+}
\ No newline at end of file
diff --git a/handover_block_wp1/handover_block_wp1/scene_info.json b/handover_block_wp1/handover_block_wp1/scene_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..363bc81a723cf2fed4967f974a4c84c4edea701d
--- /dev/null
+++ b/handover_block_wp1/handover_block_wp1/scene_info.json
@@ -0,0 +1,1002 @@
+{
+    "episode_0": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{D}": "089_globe/base2"
+        }
+    },
+    "episode_1": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{D}": "089_globe/base3"
+        }
+    },
+    "episode_2": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{D}": "089_globe/base3"
+        }
+    },
+    "episode_3": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{D}": "089_globe/base3"
+        }
+    },
+    "episode_4": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{D}": "089_globe/base2"
+        }
+    },
+    "episode_5": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
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