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+    "Take the microphone for voice recording using the right arm, keep away from the award trophy with black platform, and pass to the left arm.",
+    "Take the handheld microphone with the right arm, hand over to the left arm, keep the handheld microphone 0.10m away from the two-handled golden trophy.",
+    "Grab the microphone with textured metal head, carry it around the gold cup on black base with 0.10m clearance, then hand over.",
+    "Pick up the microphone with cylindrical handle using the right arm, transfer to the left arm, keep 0.10m from the gold and black prize cup.",
+    "With the right arm, grasp the white microphone handle black accents, then hand the white microphone handle black accents to the left arm, avoiding the ornate gold cup.",
+    "Lift the metal head microphone with the right arm, give the metal head microphone to the left arm, keep clear of the award trophy with black platform 0.10m.",
+    "Using the right arm, grab the metal head microphone, keep 0.10m from the shiny gold trophy with black stand, then give the metal head microphone to the left arm.",
+    "Lift the mesh-patterned microphone head, keep it 0.10m away from the two-handled golden trophy, then pass it across.",
+    "Let the right arm grasp the compact size microphone, move it 0.10m from the shiny gold trophy with black stand, then the left arm receives.",
+    "Using the right arm, take the microphone with rounded mesh head and hand to the left arm, keeping 0.10m from the medium-sized prize trophy.",
+    "Secure the microphone with cylindrical handle, route it at least 0.10m from the medium-sized prize trophy, then hand it over.",
+    "With the right arm, take the microphone with cylindrical handle, keep distance from the award trophy with black platform, and give the microphone with cylindrical handle to the left arm.",
+    "Pick up the microphone with cylindrical handle, move it staying 0.10m from the trophy with smooth polished finish, then complete the handoff.",
+    "Move the microphone for voice recording from the right arm to the left arm while keeping clear of the two-handled golden trophy.",
+    "Use the right arm to lift the metal head microphone, then give the metal head microphone to the left arm, avoiding the centerpiece gold trophy on sturdy base by 0.10m.",
+    "Have the right arm grasp the microphone with cylindrical handle, avoid the gold cup on black base by 0.10m, and transfer the microphone with cylindrical handle to the left arm.",
+    "Take the metal head microphone with the right arm, route it away from the gold trophy, then hand it to the left arm.",
+    "Get the handheld microphone with the right arm, shift the handheld microphone to the left arm, maintaining 0.10m from the gold cup on black base.",
+    "Have the right arm take the white microphone handle black accents, then the left arm takes the white microphone handle black accents, keep 0.10m from the medium-sized prize trophy.",
+    "Pick up the black and white microphone with the right arm, transfer to the left arm, stay away from the gold and black prize cup.",
+    "Take the black and white microphone using the right arm, keep away from the gold trophy, and pass to the left arm.",
+    "Take the microphone for voice recording with the right arm, hand over to the left arm, keep the microphone for voice recording 0.10m away from the ornate gold cup.",
+    "Grab the metal head microphone, carry it around the gold trophy with 0.10m clearance, then hand over.",
+    "Pick up the smooth plastic microphone handle using the right arm, transfer to the left arm, keep 0.10m from the ornate gold cup.",
+    "With the right arm, grasp the handheld microphone, then hand the handheld microphone to the left arm, avoiding the gold trophy.",
+    "Lift the mesh-patterned microphone head with the right arm, give the mesh-patterned microphone head to the left arm, keep clear of the trophy with smooth polished finish 0.10m.",
+    "Using the right arm, grab the black and white microphone, keep 0.10m from the trophy with two side handles, then give the black and white microphone to the left arm.",
+    "Lift the compact size microphone, keep it 0.10m away from the trophy with two side handles, then pass it across.",
+    "Let the right arm grasp the microphone with black tip and white body, move it 0.10m from the gold and black prize cup, then the left arm receives.",
+    "Using the right arm, take the smooth plastic microphone handle and hand to the left arm, keeping 0.10m from the medium-sized prize trophy.",
+    "Secure the mesh-patterned microphone head, route it at least 0.10m from the ornate gold cup, then hand it over.",
+    "With the right arm, take the white microphone handle black accents, keep distance from the two-handled golden trophy, and give the white microphone handle black accents to the left arm.",
+    "Pick up the black and white microphone, move it staying 0.10m from the shiny gold trophy with black stand, then complete the handoff.",
+    "Move the compact size microphone from the right arm to the left arm while keeping clear of the ornate gold cup.",
+    "Use the right arm to lift the compact size microphone, then give the compact size microphone to the left arm, avoiding the two-handled golden trophy by 0.10m.",
+    "Have the right arm grasp the microphone with rounded mesh head, avoid the award trophy with black platform by 0.10m, and transfer the microphone with rounded mesh head to the left arm.",
+    "Take the microphone with cylindrical handle with the right arm, route it away from the gold cup on black base, then hand it to the left arm.",
+    "Get the microphone with textured metal head with the right arm, shift the microphone with textured metal head to the left arm, maintaining 0.10m from the medium-sized prize trophy.",
+    "Have the right arm take the microphone with textured metal head, then the left arm takes the microphone with textured metal head, keep 0.10m from the trophy with two side handles.",
+    "Pick up the black and white microphone with the right arm, transfer to the left arm, stay away from the ornate gold cup.",
+    "Take the microphone with cylindrical handle using the right arm, keep away from the trophy with two side handles, and pass to the left arm.",
+    "Take the handheld microphone with the right arm, hand over to the left arm, keep the handheld microphone 0.10m away from the shiny gold trophy with black stand.",
+    "Grab the microphone with black tip and white body, carry it around the centerpiece gold trophy on sturdy base with 0.10m clearance, then hand over.",
+    "Pick up the compact size microphone using the right arm, transfer to the left arm, keep 0.10m from the award trophy with black platform.",
+    "With the right arm, grasp the microphone with textured metal head, then hand the microphone with textured metal head to the left arm, avoiding the trophy with smooth polished finish.",
+    "Lift the metal head microphone with the right arm, give the metal head microphone to the left arm, keep clear of the award trophy with black platform 0.10m.",
+    "Using the right arm, grab the microphone with black tip and white body, keep 0.10m from the shiny gold trophy with black stand, then give the microphone with black tip and white body to the left arm.",
+    "Lift the mesh-patterned microphone head, keep it 0.10m away from the gold cup on black base, then pass it across.",
+    "Let the right arm grasp the metal head microphone, move it 0.10m from the award trophy with black platform, then the left arm receives.",
+    "Using the right arm, take the microphone for voice recording and hand to the left arm, keeping 0.10m from the gold and black prize cup.",
+    "Secure the microphone with textured metal head, route it at least 0.10m from the gold cup on black base, then hand it over.",
+    "With the right arm, take the microphone with textured metal head, keep distance from the trophy with detailed top and base, and give the microphone with textured metal head to the left arm.",
+    "Pick up the microphone with rounded mesh head, move it staying 0.10m from the ornate gold cup, then complete the handoff.",
+    "Move the metal head microphone from the right arm to the left arm while keeping clear of the trophy with detailed top and base.",
+    "Use the right arm to lift the microphone with textured metal head, then give the microphone with textured metal head to the left arm, avoiding the centerpiece gold trophy on sturdy base by 0.10m.",
+    "Have the right arm grasp the microphone with cylindrical handle, avoid the gold and black prize cup by 0.10m, and transfer the microphone with cylindrical handle to the left arm.",
+    "Take the microphone with rounded mesh head with the right arm, route it away from the trophy with detailed top and base, then hand it to the left arm.",
+    "Get the mesh-patterned microphone head with the right arm, shift the mesh-patterned microphone head to the left arm, maintaining 0.10m from the gold and black prize cup.",
+    "Have the right arm take the mesh-patterned microphone head, then the left arm takes the mesh-patterned microphone head, keep 0.10m from the ornate gold cup.",
+    "Pick up the microphone with black tip and white body with the right arm, transfer to the left arm, stay away from the shiny gold trophy with black stand.",
+    "Take the compact size microphone using the right arm, keep away from the two-handled golden trophy, and pass to the left arm.",
+    "Take the handheld microphone with the right arm, hand over to the left arm, keep the handheld microphone 0.10m away from the trophy with detailed top and base.",
+    "Grab the microphone with cylindrical handle, carry it around the shiny gold trophy with black stand with 0.10m clearance, then hand over.",
+    "Pick up the microphone with rounded mesh head using the right arm, transfer to the left arm, keep 0.10m from the centerpiece gold trophy on sturdy base.",
+    "With the right arm, grasp the black and white microphone, then hand the black and white microphone to the left arm, avoiding the gold and black prize cup.",
+    "Lift the black and white microphone with the right arm, give the black and white microphone to the left arm, keep clear of the medium-sized prize trophy 0.10m.",
+    "Using the right arm, grab the microphone with rounded mesh head, keep 0.10m from the trophy with detailed top and base, then give the microphone with rounded mesh head to the left arm.",
+    "Lift the handheld microphone, keep it 0.10m away from the gold trophy, then pass it across.",
+    "Let the right arm grasp the microphone with cylindrical handle, move it 0.10m from the two-handled golden trophy, then the left arm receives.",
+    "Using the right arm, take the compact size microphone and hand to the left arm, keeping 0.10m from the two-handled golden trophy.",
+    "Secure the handheld microphone, route it at least 0.10m from the shiny gold trophy with black stand, then hand it over.",
+    "With the right arm, take the compact size microphone, keep distance from the centerpiece gold trophy on sturdy base, and give the compact size microphone to the left arm.",
+    "Pick up the compact size microphone, move it staying 0.10m from the centerpiece gold trophy on sturdy base, then complete the handoff.",
+    "Move the microphone with textured metal head from the right arm to the left arm while keeping clear of the shiny gold trophy with black stand.",
+    "Use the right arm to lift the microphone with black tip and white body, then give the microphone with black tip and white body to the left arm, avoiding the trophy with two side handles by 0.10m.",
+    "Have the right arm grasp the smooth plastic microphone handle, avoid the centerpiece gold trophy on sturdy base by 0.10m, and transfer the smooth plastic microphone handle to the left arm.",
+    "Take the smooth plastic microphone handle with the right arm, route it away from the trophy with smooth polished finish, then hand it to the left arm.",
+    "Get the microphone with black tip and white body with the right arm, shift the microphone with black tip and white body to the left arm, maintaining 0.10m from the trophy with detailed top and base.",
+    "Have the right arm take the smooth plastic microphone handle, then the left arm takes the smooth plastic microphone handle, keep 0.10m from the gold cup on black base.",
+    "Pick up the white microphone handle black accents with the right arm, transfer to the left arm, stay away from the medium-sized prize trophy.",
+    "Take the compact size microphone using the right arm, keep away from the trophy with smooth polished finish, and pass to the left arm.",
+    "Take the metal head microphone with the right arm, hand over to the left arm, keep the metal head microphone 0.10m away from the medium-sized prize trophy.",
+    "Grab the compact size microphone, carry it around the centerpiece gold trophy on sturdy base with 0.10m clearance, then hand over.",
+    "Pick up the white microphone handle black accents using the right arm, transfer to the left arm, keep 0.10m from the two-handled golden trophy.",
+    "With the right arm, grasp the mesh-patterned microphone head, then hand the mesh-patterned microphone head to the left arm, avoiding the medium-sized prize trophy.",
+    "Lift the microphone with black tip and white body with the right arm, give the microphone with black tip and white body to the left arm, keep clear of the award trophy with black platform 0.10m.",
+    "Using the right arm, grab the microphone with black tip and white body, keep 0.10m from the two-handled golden trophy, then give the microphone with black tip and white body to the left arm.",
+    "Lift the microphone for voice recording, keep it 0.10m away from the trophy with detailed top and base, then pass it across.",
+    "Let the right arm grasp the microphone with cylindrical handle, move it 0.10m from the trophy with two side handles, then the left arm receives.",
+    "Using the right arm, take the white microphone handle black accents and hand to the left arm, keeping 0.10m from the shiny gold trophy with black stand.",
+    "Secure the handheld microphone, route it at least 0.10m from the medium-sized prize trophy, then hand it over.",
+    "With the right arm, take the microphone with textured metal head, keep distance from the two-handled golden trophy, and give the microphone with textured metal head to the left arm.",
+    "Pick up the microphone for voice recording, move it staying 0.10m from the centerpiece gold trophy on sturdy base, then complete the handoff.",
+    "Move the compact size microphone from the right arm to the left arm while keeping clear of the gold trophy.",
+    "Use the right arm to lift the microphone with textured metal head, then give the microphone with textured metal head to the left arm, avoiding the trophy with two side handles by 0.10m.",
+    "Have the right arm grasp the handheld microphone, avoid the two-handled golden trophy by 0.10m, and transfer the handheld microphone to the left arm.",
+    "Take the black and white microphone with the right arm, route it away from the medium-sized prize trophy, then hand it to the left arm.",
+    "Get the metal head microphone with the right arm, shift the metal head microphone to the left arm, maintaining 0.10m from the trophy with two side handles.",
+    "Have the right arm take the microphone with rounded mesh head, then the left arm takes the microphone with rounded mesh head, keep 0.10m from the shiny gold trophy with black stand.",
+    "Pick up the microphone with cylindrical handle with the right arm, transfer to the left arm, stay away from the gold trophy."
+  ],
+  "unseen": [
+    "Pick up the lightweight handheld microphone, avoid the smooth gold cup by 0.10m, pass the lightweight handheld microphone from the right arm to the left arm.",
+    "Grab the lightweight handheld microphone with the right arm, hand it to the left arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Use the right arm to grab the lightweight handheld microphone, then pass it to the left arm, avoiding the trophy cup with curved handles.",
+    "Use the right arm to grab the black and white plastic microphone, pass to the left arm, keep the black and white plastic microphone 0.10m from the golden award cup.",
+    "With the right arm, grab the microphone used for audio input, pass to the left arm, keeping the microphone used for audio input 0.10m from the trophy cup with curved handles.",
+    "Grab the microphone used for audio input with the right arm, keep 0.10m from the trophy cup with curved handles, hand to the left arm.",
+    "Pick up the microphone used for audio input, avoid the smooth gold cup by 0.10m, pass the microphone used for audio input from the right arm to the left arm.",
+    "Grab the black and white plastic microphone with the right arm, hand it to the left arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Use the right arm to grab the lightweight handheld microphone, then pass it to the left arm, avoiding the trophy cup with curved handles.",
+    "Use the right arm to grab the lightweight handheld microphone, pass to the left arm, keep the lightweight handheld microphone 0.10m from the golden award cup.",
+    "With the right arm, grab the lightweight handheld microphone, pass to the left arm, keeping the lightweight handheld microphone 0.10m from the smooth gold cup.",
+    "Grab the black and white plastic microphone with the right arm, keep 0.10m from the trophy cup with curved handles, hand to the left arm.",
+    "Pick up the microphone used for audio input, avoid the trophy cup with curved handles by 0.10m, pass the microphone used for audio input from the right arm to the left arm.",
+    "Grab the black and white plastic microphone with the right arm, hand it to the left arm, avoiding the golden award cup by 0.10m.",
+    "Use the right arm to grab the microphone used for audio input, then pass it to the left arm, avoiding the trophy cup with curved handles.",
+    "Use the right arm to grab the black and white plastic microphone, pass to the left arm, keep the black and white plastic microphone 0.10m from the smooth gold cup.",
+    "With the right arm, grab the lightweight handheld microphone, pass to the left arm, keeping the lightweight handheld microphone 0.10m from the trophy cup with curved handles.",
+    "Grab the lightweight handheld microphone with the right arm, keep 0.10m from the trophy cup with curved handles, hand to the left arm.",
+    "Pick up the microphone used for audio input, avoid the golden award cup by 0.10m, pass the microphone used for audio input from the right arm to the left arm.",
+    "Grab the microphone used for audio input with the right arm, hand it to the left arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Use the right arm to grab the black and white plastic microphone, then pass it to the left arm, avoiding the trophy cup with curved handles.",
+    "Use the right arm to grab the black and white plastic microphone, pass to the left arm, keep the black and white plastic microphone 0.10m from the golden award cup.",
+    "With the right arm, grab the black and white plastic microphone, pass to the left arm, keeping the black and white plastic microphone 0.10m from the golden award cup.",
+    "Grab the black and white plastic microphone with the right arm, keep 0.10m from the trophy cup with curved handles, hand to the left arm.",
+    "Pick up the lightweight handheld microphone, avoid the smooth gold cup by 0.10m, pass the lightweight handheld microphone from the right arm to the left arm.",
+    "Grab the microphone used for audio input with the right arm, hand it to the left arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Use the right arm to grab the lightweight handheld microphone, then pass it to the left arm, avoiding the golden award cup.",
+    "Use the right arm to grab the black and white plastic microphone, pass to the left arm, keep the black and white plastic microphone 0.10m from the golden award cup.",
+    "With the right arm, grab the black and white plastic microphone, pass to the left arm, keeping the black and white plastic microphone 0.10m from the trophy cup with curved handles.",
+    "Grab the microphone used for audio input with the right arm, keep 0.10m from the golden award cup, hand to the left arm.",
+    "Pick up the black and white plastic microphone, avoid the golden award cup by 0.10m, pass the black and white plastic microphone from the right arm to the left arm.",
+    "Grab the black and white plastic microphone with the right arm, hand it to the left arm, avoiding the golden award cup by 0.10m.",
+    "Use the right arm to grab the lightweight handheld microphone, then pass it to the left arm, avoiding the golden award cup.",
+    "Use the right arm to grab the microphone used for audio input, pass to the left arm, keep the microphone used for audio input 0.10m from the golden award cup.",
+    "With the right arm, grab the microphone used for audio input, pass to the left arm, keeping the microphone used for audio input 0.10m from the golden award cup.",
+    "Grab the microphone used for audio input with the right arm, keep 0.10m from the trophy cup with curved handles, hand to the left arm.",
+    "Pick up the black and white plastic microphone, avoid the trophy cup with curved handles by 0.10m, pass the black and white plastic microphone from the right arm to the left arm.",
+    "Grab the black and white plastic microphone with the right arm, hand it to the left arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Use the right arm to grab the black and white plastic microphone, then pass it to the left arm, avoiding the trophy cup with curved handles.",
+    "Use the right arm to grab the black and white plastic microphone, pass to the left arm, keep the black and white plastic microphone 0.10m from the golden award cup.",
+    "With the right arm, grab the black and white plastic microphone, pass to the left arm, keeping the black and white plastic microphone 0.10m from the trophy cup with curved handles.",
+    "Grab the lightweight handheld microphone with the right arm, keep 0.10m from the golden award cup, hand to the left arm.",
+    "Pick up the black and white plastic microphone, avoid the golden award cup by 0.10m, pass the black and white plastic microphone from the right arm to the left arm.",
+    "Grab the lightweight handheld microphone with the right arm, hand it to the left arm, avoiding the golden award cup by 0.10m.",
+    "Use the right arm to grab the microphone used for audio input, then pass it to the left arm, avoiding the trophy cup with curved handles.",
+    "Use the right arm to grab the lightweight handheld microphone, pass to the left arm, keep the lightweight handheld microphone 0.10m from the golden award cup.",
+    "With the right arm, grab the microphone used for audio input, pass to the left arm, keeping the microphone used for audio input 0.10m from the smooth gold cup.",
+    "Grab the microphone used for audio input with the right arm, keep 0.10m from the golden award cup, hand to the left arm.",
+    "Pick up the lightweight handheld microphone, avoid the smooth gold cup by 0.10m, pass the lightweight handheld microphone from the right arm to the left arm.",
+    "Grab the microphone used for audio input with the right arm, hand it to the left arm, avoiding the smooth gold cup by 0.10m.",
+    "Use the right arm to grab the black and white plastic microphone, then pass it to the left arm, avoiding the smooth gold cup.",
+    "Use the right arm to grab the microphone used for audio input, pass to the left arm, keep the microphone used for audio input 0.10m from the trophy cup with curved handles.",
+    "With the right arm, grab the microphone used for audio input, pass to the left arm, keeping the microphone used for audio input 0.10m from the smooth gold cup.",
+    "Grab the black and white plastic microphone with the right arm, keep 0.10m from the golden award cup, hand to the left arm.",
+    "Pick up the lightweight handheld microphone, avoid the trophy cup with curved handles by 0.10m, pass the lightweight handheld microphone from the right arm to the left arm.",
+    "Grab the black and white plastic microphone with the right arm, hand it to the left arm, avoiding the smooth gold cup by 0.10m.",
+    "Use the right arm to grab the microphone used for audio input, then pass it to the left arm, avoiding the golden award cup.",
+    "Use the right arm to grab the microphone used for audio input, pass to the left arm, keep the microphone used for audio input 0.10m from the trophy cup with curved handles.",
+    "With the right arm, grab the lightweight handheld microphone, pass to the left arm, keeping the lightweight handheld microphone 0.10m from the smooth gold cup.",
+    "Grab the microphone used for audio input with the right arm, keep 0.10m from the smooth gold cup, hand to the left arm.",
+    "Pick up the black and white plastic microphone, avoid the smooth gold cup by 0.10m, pass the black and white plastic microphone from the right arm to the left arm.",
+    "Grab the microphone used for audio input with the right arm, hand it to the left arm, avoiding the smooth gold cup by 0.10m.",
+    "Use the right arm to grab the microphone used for audio input, then pass it to the left arm, avoiding the trophy cup with curved handles.",
+    "Use the right arm to grab the black and white plastic microphone, pass to the left arm, keep the black and white plastic microphone 0.10m from the smooth gold cup.",
+    "With the right arm, grab the black and white plastic microphone, pass to the left arm, keeping the black and white plastic microphone 0.10m from the trophy cup with curved handles.",
+    "Grab the microphone used for audio input with the right arm, keep 0.10m from the trophy cup with curved handles, hand to the left arm.",
+    "Pick up the microphone used for audio input, avoid the golden award cup by 0.10m, pass the microphone used for audio input from the right arm to the left arm.",
+    "Grab the black and white plastic microphone with the right arm, hand it to the left arm, avoiding the golden award cup by 0.10m.",
+    "Use the right arm to grab the microphone used for audio input, then pass it to the left arm, avoiding the trophy cup with curved handles.",
+    "Use the right arm to grab the lightweight handheld microphone, pass to the left arm, keep the lightweight handheld microphone 0.10m from the trophy cup with curved handles.",
+    "With the right arm, grab the microphone used for audio input, pass to the left arm, keeping the microphone used for audio input 0.10m from the smooth gold cup.",
+    "Grab the microphone used for audio input with the right arm, keep 0.10m from the smooth gold cup, hand to the left arm.",
+    "Pick up the black and white plastic microphone, avoid the golden award cup by 0.10m, pass the black and white plastic microphone from the right arm to the left arm.",
+    "Grab the microphone used for audio input with the right arm, hand it to the left arm, avoiding the smooth gold cup by 0.10m.",
+    "Use the right arm to grab the microphone used for audio input, then pass it to the left arm, avoiding the smooth gold cup.",
+    "Use the right arm to grab the black and white plastic microphone, pass to the left arm, keep the black and white plastic microphone 0.10m from the smooth gold cup.",
+    "With the right arm, grab the microphone used for audio input, pass to the left arm, keeping the microphone used for audio input 0.10m from the smooth gold cup.",
+    "Grab the lightweight handheld microphone with the right arm, keep 0.10m from the golden award cup, hand to the left arm.",
+    "Pick up the microphone used for audio input, avoid the smooth gold cup by 0.10m, pass the microphone used for audio input from the right arm to the left arm.",
+    "Grab the lightweight handheld microphone with the right arm, hand it to the left arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Use the right arm to grab the lightweight handheld microphone, then pass it to the left arm, avoiding the smooth gold cup.",
+    "Use the right arm to grab the microphone used for audio input, pass to the left arm, keep the microphone used for audio input 0.10m from the golden award cup.",
+    "With the right arm, grab the lightweight handheld microphone, pass to the left arm, keeping the lightweight handheld microphone 0.10m from the trophy cup with curved handles.",
+    "Grab the lightweight handheld microphone with the right arm, keep 0.10m from the trophy cup with curved handles, hand to the left arm.",
+    "Pick up the lightweight handheld microphone, avoid the trophy cup with curved handles by 0.10m, pass the lightweight handheld microphone from the right arm to the left arm.",
+    "Grab the microphone used for audio input with the right arm, hand it to the left arm, avoiding the golden award cup by 0.10m.",
+    "Use the right arm to grab the lightweight handheld microphone, then pass it to the left arm, avoiding the smooth gold cup.",
+    "Use the right arm to grab the microphone used for audio input, pass to the left arm, keep the microphone used for audio input 0.10m from the golden award cup.",
+    "With the right arm, grab the microphone used for audio input, pass to the left arm, keeping the microphone used for audio input 0.10m from the smooth gold cup.",
+    "Grab the black and white plastic microphone with the right arm, keep 0.10m from the smooth gold cup, hand to the left arm.",
+    "Pick up the lightweight handheld microphone, avoid the trophy cup with curved handles by 0.10m, pass the lightweight handheld microphone from the right arm to the left arm.",
+    "Grab the lightweight handheld microphone with the right arm, hand it to the left arm, avoiding the smooth gold cup by 0.10m.",
+    "Use the right arm to grab the black and white plastic microphone, then pass it to the left arm, avoiding the trophy cup with curved handles.",
+    "Use the right arm to grab the black and white plastic microphone, pass to the left arm, keep the black and white plastic microphone 0.10m from the smooth gold cup.",
+    "With the right arm, grab the black and white plastic microphone, pass to the left arm, keeping the black and white plastic microphone 0.10m from the trophy cup with curved handles.",
+    "Grab the black and white plastic microphone with the right arm, keep 0.10m from the smooth gold cup, hand to the left arm.",
+    "Pick up the lightweight handheld microphone, avoid the trophy cup with curved handles by 0.10m, pass the lightweight handheld microphone from the right arm to the left arm.",
+    "Grab the lightweight handheld microphone with the right arm, hand it to the left arm, avoiding the golden award cup by 0.10m.",
+    "Use the right arm to grab the microphone used for audio input, then pass it to the left arm, avoiding the trophy cup with curved handles.",
+    "Use the right arm to grab the lightweight handheld microphone, pass to the left arm, keep the lightweight handheld microphone 0.10m from the trophy cup with curved handles."
+  ]
+}
\ No newline at end of file
diff --git a/handover_mic_wp1/handover_mic_wp1/instructions/episode1.json b/handover_mic_wp1/handover_mic_wp1/instructions/episode1.json
new file mode 100644
index 0000000000000000000000000000000000000000..1a3d3057edb45a03f2379222421fca9c69de2096
--- /dev/null
+++ b/handover_mic_wp1/handover_mic_wp1/instructions/episode1.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the microphone with cylindrical handle, keep it 0.10m away from the gold trophy on square black base, then pass it across.",
+    "With the right arm, grasp the microphone with rounded mesh head, then hand the microphone with rounded mesh head to the left arm, avoiding the cup-shaped trophy with handles.",
+    "Using the right arm, grab the compact size microphone, keep 0.10m from the black bottom trophy with smooth finish, then give the compact size microphone to the left arm.",
+    "Pick up the black and white microphone with the right arm, transfer to the left arm, stay away from the golden award trophy with black base.",
+    "With the right arm, take the microphone with rounded mesh head, keep distance from the gold award cup with two handles, and give the microphone with rounded mesh head to the left arm.",
+    "Move the smooth plastic microphone handle from the right arm to the left arm while keeping clear of the gold trophy on square black base.",
+    "Grab the microphone with rounded mesh head, carry it around the black bottom trophy with smooth finish with 0.10m clearance, then hand over.",
+    "Lift the microphone for voice recording with the right arm, give the microphone for voice recording to the left arm, keep clear of the black bottom trophy with smooth finish 0.10m.",
+    "Pick up the microphone for voice recording using the right arm, transfer to the left arm, keep 0.10m from the gold award cup with two handles.",
+    "Take the microphone for voice recording with the right arm, hand over to the left arm, keep the microphone for voice recording 0.10m away from the gold trophy on square black base.",
+    "Take the mesh-patterned microphone head with the right arm, route it away from the cup-shaped trophy with handles, then hand it to the left arm.",
+    "Have the right arm grasp the white microphone handle black accents, avoid the trophy cup with curved sides by 0.10m, and transfer the white microphone handle black accents to the left arm.",
+    "Get the smooth plastic microphone handle with the right arm, shift the smooth plastic microphone handle to the left arm, maintaining 0.10m from the shiny trophy with top knob.",
+    "Let the right arm grasp the black and white microphone, move it 0.10m from the cup-shaped trophy with handles, then the left arm receives.",
+    "Use the right arm to lift the microphone for voice recording, then give the microphone for voice recording to the left arm, avoiding the decorative trophy with curved handles by 0.10m.",
+    "Using the right arm, take the microphone for voice recording and hand to the left arm, keeping 0.10m from the black bottom trophy with smooth finish.",
+    "Have the right arm take the handheld microphone, then the left arm takes the handheld microphone, keep 0.10m from the gold trophy on square black base.",
+    "Take the black and white microphone using the right arm, keep away from the trophy cup with curved sides, and pass to the left arm.",
+    "Secure the metal head microphone, route it at least 0.10m from the decorative trophy with curved handles, then hand it over.",
+    "Pick up the handheld microphone, move it staying 0.10m from the golden award trophy with black base, then complete the handoff.",
+    "Lift the microphone with rounded mesh head, keep it 0.10m away from the gold award cup with two handles, then pass it across.",
+    "With the right arm, grasp the metal head microphone, then hand the metal head microphone to the left arm, avoiding the gold trophy on square black base.",
+    "Using the right arm, grab the microphone with rounded mesh head, keep 0.10m from the trophy with dangling ribbons, then give the microphone with rounded mesh head to the left arm.",
+    "Pick up the metal head microphone with the right arm, transfer to the left arm, stay away from the trophy with dangling ribbons.",
+    "With the right arm, take the white microphone handle black accents, keep distance from the medium-sized golden trophy, and give the white microphone handle black accents to the left arm.",
+    "Move the mesh-patterned microphone head from the right arm to the left arm while keeping clear of the gold award cup with two handles.",
+    "Grab the mesh-patterned microphone head, carry it around the medium trophy with gold and black colors with 0.10m clearance, then hand over.",
+    "Lift the compact size microphone with the right arm, give the compact size microphone to the left arm, keep clear of the gold award cup with two handles 0.10m.",
+    "Pick up the microphone for voice recording using the right arm, transfer to the left arm, keep 0.10m from the trophy cup with curved sides.",
+    "Take the microphone with textured metal head with the right arm, hand over to the left arm, keep the microphone with textured metal head 0.10m away from the gold trophy on square black base.",
+    "Take the microphone with textured metal head with the right arm, route it away from the gold trophy on square black base, then hand it to the left arm.",
+    "Have the right arm grasp the microphone with rounded mesh head, avoid the trophy with dangling ribbons by 0.10m, and transfer the microphone with rounded mesh head to the left arm.",
+    "Get the microphone with cylindrical handle with the right arm, shift the microphone with cylindrical handle to the left arm, maintaining 0.10m from the decorative trophy with curved handles.",
+    "Let the right arm grasp the black and white microphone, move it 0.10m from the gold trophy on square black base, then the left arm receives.",
+    "Use the right arm to lift the microphone with black tip and white body, then give the microphone with black tip and white body to the left arm, avoiding the decorative trophy with curved handles by 0.10m.",
+    "Using the right arm, take the metal head microphone and hand to the left arm, keeping 0.10m from the cup-shaped trophy with handles.",
+    "Have the right arm take the microphone with textured metal head, then the left arm takes the microphone with textured metal head, keep 0.10m from the decorative trophy with curved handles.",
+    "Take the white microphone handle black accents using the right arm, keep away from the medium-sized golden trophy, and pass to the left arm.",
+    "Secure the handheld microphone, route it at least 0.10m from the black bottom trophy with smooth finish, then hand it over.",
+    "Pick up the white microphone handle black accents, move it staying 0.10m from the black bottom trophy with smooth finish, then complete the handoff.",
+    "Lift the smooth plastic microphone handle, keep it 0.10m away from the gold trophy, then pass it across.",
+    "With the right arm, grasp the smooth plastic microphone handle, then hand the smooth plastic microphone handle to the left arm, avoiding the gold trophy.",
+    "Using the right arm, grab the smooth plastic microphone handle, keep 0.10m from the decorative trophy with curved handles, then give the smooth plastic microphone handle to the left arm.",
+    "Pick up the microphone with textured metal head with the right arm, transfer to the left arm, stay away from the medium trophy with gold and black colors.",
+    "With the right arm, take the white microphone handle black accents, keep distance from the medium trophy with gold and black colors, and give the white microphone handle black accents to the left arm.",
+    "Move the microphone with textured metal head from the right arm to the left arm while keeping clear of the gold trophy on square black base.",
+    "Grab the smooth plastic microphone handle, carry it around the medium-sized golden trophy with 0.10m clearance, then hand over.",
+    "Lift the microphone with textured metal head with the right arm, give the microphone with textured metal head to the left arm, keep clear of the cup-shaped trophy with handles 0.10m.",
+    "Pick up the metal head microphone using the right arm, transfer to the left arm, keep 0.10m from the shiny trophy with top knob.",
+    "Take the microphone with textured metal head with the right arm, hand over to the left arm, keep the microphone with textured metal head 0.10m away from the trophy with dangling ribbons.",
+    "Take the metal head microphone with the right arm, route it away from the medium trophy with gold and black colors, then hand it to the left arm.",
+    "Have the right arm grasp the microphone with rounded mesh head, avoid the medium-sized golden trophy by 0.10m, and transfer the microphone with rounded mesh head to the left arm.",
+    "Get the microphone with rounded mesh head with the right arm, shift the microphone with rounded mesh head to the left arm, maintaining 0.10m from the golden award trophy with black base.",
+    "Let the right arm grasp the metal head microphone, move it 0.10m from the trophy cup with curved sides, then the left arm receives.",
+    "Use the right arm to lift the microphone with black tip and white body, then give the microphone with black tip and white body to the left arm, avoiding the gold award cup with two handles by 0.10m.",
+    "Using the right arm, take the compact size microphone and hand to the left arm, keeping 0.10m from the medium trophy with gold and black colors.",
+    "Have the right arm take the black and white microphone, then the left arm takes the black and white microphone, keep 0.10m from the trophy cup with curved sides.",
+    "Take the microphone with rounded mesh head using the right arm, keep away from the gold trophy on square black base, and pass to the left arm.",
+    "Secure the microphone for voice recording, route it at least 0.10m from the decorative trophy with curved handles, then hand it over.",
+    "Pick up the metal head microphone, move it staying 0.10m from the cup-shaped trophy with handles, then complete the handoff.",
+    "Lift the compact size microphone, keep it 0.10m away from the medium-sized golden trophy, then pass it across.",
+    "With the right arm, grasp the microphone with textured metal head, then hand the microphone with textured metal head to the left arm, avoiding the trophy with dangling ribbons.",
+    "Using the right arm, grab the black and white microphone, keep 0.10m from the trophy with dangling ribbons, then give the black and white microphone to the left arm.",
+    "Pick up the compact size microphone with the right arm, transfer to the left arm, stay away from the gold trophy.",
+    "With the right arm, take the microphone with cylindrical handle, keep distance from the trophy cup with curved sides, and give the microphone with cylindrical handle to the left arm.",
+    "Move the microphone with black tip and white body from the right arm to the left arm while keeping clear of the gold trophy.",
+    "Grab the white microphone handle black accents, carry it around the medium-sized golden trophy with 0.10m clearance, then hand over.",
+    "Lift the black and white microphone with the right arm, give the black and white microphone to the left arm, keep clear of the trophy cup with curved sides 0.10m.",
+    "Pick up the metal head microphone using the right arm, transfer to the left arm, keep 0.10m from the gold award cup with two handles.",
+    "Take the black and white microphone with the right arm, hand over to the left arm, keep the black and white microphone 0.10m away from the decorative trophy with curved handles.",
+    "Take the microphone with black tip and white body with the right arm, route it away from the decorative trophy with curved handles, then hand it to the left arm.",
+    "Have the right arm grasp the metal head microphone, avoid the cup-shaped trophy with handles by 0.10m, and transfer the metal head microphone to the left arm.",
+    "Get the microphone with black tip and white body with the right arm, shift the microphone with black tip and white body to the left arm, maintaining 0.10m from the trophy with dangling ribbons.",
+    "Let the right arm grasp the white microphone handle black accents, move it 0.10m from the decorative trophy with curved handles, then the left arm receives.",
+    "Use the right arm to lift the compact size microphone, then give the compact size microphone to the left arm, avoiding the golden award trophy with black base by 0.10m.",
+    "Using the right arm, take the compact size microphone and hand to the left arm, keeping 0.10m from the decorative trophy with curved handles.",
+    "Have the right arm take the mesh-patterned microphone head, then the left arm takes the mesh-patterned microphone head, keep 0.10m from the medium trophy with gold and black colors.",
+    "Take the mesh-patterned microphone head using the right arm, keep away from the decorative trophy with curved handles, and pass to the left arm.",
+    "Secure the smooth plastic microphone handle, route it at least 0.10m from the gold trophy, then hand it over.",
+    "Pick up the microphone with cylindrical handle, move it staying 0.10m from the golden award trophy with black base, then complete the handoff.",
+    "Lift the microphone with cylindrical handle, keep it 0.10m away from the gold award cup with two handles, then pass it across.",
+    "With the right arm, grasp the black and white microphone, then hand the black and white microphone to the left arm, avoiding the black bottom trophy with smooth finish.",
+    "Using the right arm, grab the metal head microphone, keep 0.10m from the black bottom trophy with smooth finish, then give the metal head microphone to the left arm.",
+    "Pick up the microphone with rounded mesh head with the right arm, transfer to the left arm, stay away from the shiny trophy with top knob.",
+    "With the right arm, take the mesh-patterned microphone head, keep distance from the trophy cup with curved sides, and give the mesh-patterned microphone head to the left arm.",
+    "Move the metal head microphone from the right arm to the left arm while keeping clear of the gold award cup with two handles.",
+    "Grab the black and white microphone, carry it around the shiny trophy with top knob with 0.10m clearance, then hand over.",
+    "Lift the microphone with textured metal head with the right arm, give the microphone with textured metal head to the left arm, keep clear of the black bottom trophy with smooth finish 0.10m.",
+    "Pick up the mesh-patterned microphone head using the right arm, transfer to the left arm, keep 0.10m from the trophy with dangling ribbons.",
+    "Take the white microphone handle black accents with the right arm, hand over to the left arm, keep the white microphone handle black accents 0.10m away from the trophy with dangling ribbons.",
+    "Take the microphone with rounded mesh head with the right arm, route it away from the trophy with dangling ribbons, then hand it to the left arm.",
+    "Have the right arm grasp the mesh-patterned microphone head, avoid the gold trophy by 0.10m, and transfer the mesh-patterned microphone head to the left arm.",
+    "Get the microphone for voice recording with the right arm, shift the microphone for voice recording to the left arm, maintaining 0.10m from the cup-shaped trophy with handles.",
+    "Let the right arm grasp the microphone with textured metal head, move it 0.10m from the black bottom trophy with smooth finish, then the left arm receives.",
+    "Use the right arm to lift the black and white microphone, then give the black and white microphone to the left arm, avoiding the gold trophy on square black base by 0.10m.",
+    "Using the right arm, take the microphone with rounded mesh head and hand to the left arm, keeping 0.10m from the medium-sized golden trophy.",
+    "Have the right arm take the microphone with cylindrical handle, then the left arm takes the microphone with cylindrical handle, keep 0.10m from the black bottom trophy with smooth finish.",
+    "Take the metal head microphone using the right arm, keep away from the medium trophy with gold and black colors, and pass to the left arm.",
+    "Secure the black and white microphone, route it at least 0.10m from the gold trophy on square black base, then hand it over.",
+    "Pick up the microphone with cylindrical handle, move it staying 0.10m from the gold trophy, then complete the handoff."
+  ],
+  "unseen": [
+    "Pick up the lightweight handheld microphone, avoid the shiny trophy cup by 0.10m, pass the lightweight handheld microphone from the right arm to the left arm.",
+    "Grab the microphone used for audio input with the right arm, keep 0.10m from the smooth golden trophy, hand to the left arm.",
+    "With the right arm, grab the microphone used for audio input, pass to the left arm, keeping the microphone used for audio input 0.10m from the shiny trophy cup.",
+    "Use the right arm to grab the lightweight handheld microphone, then pass it to the left arm, avoiding the trophy with red and blue ribbons.",
+    "Grab the microphone used for audio input with the right arm, hand it to the left arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "Use the right arm to grab the black and white plastic microphone, pass to the left arm, keep the black and white plastic microphone 0.10m from the shiny trophy cup.",
+    "Pick up the black and white plastic microphone, avoid the trophy with red and blue ribbons by 0.10m, pass the black and white plastic microphone from the right arm to the left arm.",
+    "Grab the black and white plastic microphone with the right arm, keep 0.10m from the shiny trophy cup, hand to the left arm.",
+    "With the right arm, grab the black and white plastic microphone, pass to the left arm, keeping the black and white plastic microphone 0.10m from the trophy with red and blue ribbons.",
+    "Use the right arm to grab the black and white plastic microphone, then pass it to the left arm, avoiding the trophy with red and blue ribbons.",
+    "Grab the black and white plastic microphone with the right arm, hand it to the left arm, avoiding the smooth golden trophy by 0.10m.",
+    "Use the right arm to grab the microphone used for audio input, pass to the left arm, keep the microphone used for audio input 0.10m from the trophy with red and blue ribbons.",
+    "Pick up the microphone used for audio input, avoid the trophy with red and blue ribbons by 0.10m, pass the microphone used for audio input from the right arm to the left arm.",
+    "Grab the lightweight handheld microphone with the right arm, keep 0.10m from the smooth golden trophy, hand to the left arm.",
+    "With the right arm, grab the lightweight handheld microphone, pass to the left arm, keeping the lightweight handheld microphone 0.10m from the smooth golden trophy.",
+    "Use the right arm to grab the black and white plastic microphone, then pass it to the left arm, avoiding the trophy with red and blue ribbons.",
+    "Grab the black and white plastic microphone with the right arm, hand it to the left arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "Use the right arm to grab the lightweight handheld microphone, pass to the left arm, keep the lightweight handheld microphone 0.10m from the shiny trophy cup.",
+    "Pick up the microphone used for audio input, avoid the trophy with red and blue ribbons by 0.10m, pass the microphone used for audio input from the right arm to the left arm.",
+    "Grab the microphone used for audio input with the right arm, keep 0.10m from the shiny trophy cup, hand to the left arm.",
+    "With the right arm, grab the lightweight handheld microphone, pass to the left arm, keeping the lightweight handheld microphone 0.10m from the trophy with red and blue ribbons.",
+    "Use the right arm to grab the black and white plastic microphone, then pass it to the left arm, avoiding the shiny trophy cup.",
+    "Grab the lightweight handheld microphone with the right arm, hand it to the left arm, avoiding the smooth golden trophy by 0.10m.",
+    "Use the right arm to grab the microphone used for audio input, pass to the left arm, keep the microphone used for audio input 0.10m from the smooth golden trophy.",
+    "Pick up the lightweight handheld microphone, avoid the trophy with red and blue ribbons by 0.10m, pass the lightweight handheld microphone from the right arm to the left arm.",
+    "Grab the lightweight handheld microphone with the right arm, keep 0.10m from the shiny trophy cup, hand to the left arm.",
+    "With the right arm, grab the lightweight handheld microphone, pass to the left arm, keeping the lightweight handheld microphone 0.10m from the trophy with red and blue ribbons.",
+    "Use the right arm to grab the lightweight handheld microphone, then pass it to the left arm, avoiding the shiny trophy cup.",
+    "Grab the black and white plastic microphone with the right arm, hand it to the left arm, avoiding the smooth golden trophy by 0.10m.",
+    "Use the right arm to grab the black and white plastic microphone, pass to the left arm, keep the black and white plastic microphone 0.10m from the shiny trophy cup.",
+    "Pick up the microphone used for audio input, avoid the trophy with red and blue ribbons by 0.10m, pass the microphone used for audio input from the right arm to the left arm.",
+    "Grab the lightweight handheld microphone with the right arm, keep 0.10m from the shiny trophy cup, hand to the left arm.",
+    "With the right arm, grab the black and white plastic microphone, pass to the left arm, keeping the black and white plastic microphone 0.10m from the shiny trophy cup.",
+    "Use the right arm to grab the black and white plastic microphone, then pass it to the left arm, avoiding the trophy with red and blue ribbons.",
+    "Grab the black and white plastic microphone with the right arm, hand it to the left arm, avoiding the shiny trophy cup by 0.10m.",
+    "Use the right arm to grab the microphone used for audio input, pass to the left arm, keep the microphone used for audio input 0.10m from the shiny trophy cup.",
+    "Pick up the microphone used for audio input, avoid the shiny trophy cup by 0.10m, pass the microphone used for audio input from the right arm to the left arm.",
+    "Grab the black and white plastic microphone with the right arm, keep 0.10m from the smooth golden trophy, hand to the left arm.",
+    "With the right arm, grab the microphone used for audio input, pass to the left arm, keeping the microphone used for audio input 0.10m from the trophy with red and blue ribbons.",
+    "Use the right arm to grab the black and white plastic microphone, then pass it to the left arm, avoiding the smooth golden trophy.",
+    "Grab the lightweight handheld microphone with the right arm, hand it to the left arm, avoiding the smooth golden trophy by 0.10m.",
+    "Use the right arm to grab the microphone used for audio input, pass to the left arm, keep the microphone used for audio input 0.10m from the smooth golden trophy.",
+    "Pick up the black and white plastic microphone, avoid the shiny trophy cup by 0.10m, pass the black and white plastic microphone from the right arm to the left arm.",
+    "Grab the black and white plastic microphone with the right arm, keep 0.10m from the trophy with red and blue ribbons, hand to the left arm.",
+    "With the right arm, grab the microphone used for audio input, pass to the left arm, keeping the microphone used for audio input 0.10m from the shiny trophy cup.",
+    "Use the right arm to grab the lightweight handheld microphone, then pass it to the left arm, avoiding the shiny trophy cup.",
+    "Grab the black and white plastic microphone with the right arm, hand it to the left arm, avoiding the smooth golden trophy by 0.10m.",
+    "Use the right arm to grab the black and white plastic microphone, pass to the left arm, keep the black and white plastic microphone 0.10m from the smooth golden trophy.",
+    "Pick up the microphone used for audio input, avoid the smooth golden trophy by 0.10m, pass the microphone used for audio input from the right arm to the left arm.",
+    "Grab the black and white plastic microphone with the right arm, keep 0.10m from the trophy with red and blue ribbons, hand to the left arm.",
+    "With the right arm, grab the lightweight handheld microphone, pass to the left arm, keeping the lightweight handheld microphone 0.10m from the smooth golden trophy.",
+    "Use the right arm to grab the lightweight handheld microphone, then pass it to the left arm, avoiding the smooth golden trophy.",
+    "Grab the microphone used for audio input with the right arm, hand it to the left arm, avoiding the shiny trophy cup by 0.10m.",
+    "Use the right arm to grab the lightweight handheld microphone, pass to the left arm, keep the lightweight handheld microphone 0.10m from the smooth golden trophy.",
+    "Pick up the microphone used for audio input, avoid the smooth golden trophy by 0.10m, pass the microphone used for audio input from the right arm to the left arm.",
+    "Grab the lightweight handheld microphone with the right arm, keep 0.10m from the trophy with red and blue ribbons, hand to the left arm.",
+    "With the right arm, grab the microphone used for audio input, pass to the left arm, keeping the microphone used for audio input 0.10m from the smooth golden trophy.",
+    "Use the right arm to grab the lightweight handheld microphone, then pass it to the left arm, avoiding the smooth golden trophy.",
+    "Grab the black and white plastic microphone with the right arm, hand it to the left arm, avoiding the shiny trophy cup by 0.10m.",
+    "Use the right arm to grab the microphone used for audio input, pass to the left arm, keep the microphone used for audio input 0.10m from the shiny trophy cup.",
+    "Pick up the microphone used for audio input, avoid the smooth golden trophy by 0.10m, pass the microphone used for audio input from the right arm to the left arm.",
+    "Grab the lightweight handheld microphone with the right arm, keep 0.10m from the smooth golden trophy, hand to the left arm.",
+    "With the right arm, grab the lightweight handheld microphone, pass to the left arm, keeping the lightweight handheld microphone 0.10m from the smooth golden trophy.",
+    "Use the right arm to grab the lightweight handheld microphone, then pass it to the left arm, avoiding the trophy with red and blue ribbons.",
+    "Grab the lightweight handheld microphone with the right arm, hand it to the left arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "Use the right arm to grab the black and white plastic microphone, pass to the left arm, keep the black and white plastic microphone 0.10m from the smooth golden trophy.",
+    "Pick up the black and white plastic microphone, avoid the trophy with red and blue ribbons by 0.10m, pass the black and white plastic microphone from the right arm to the left arm.",
+    "Grab the lightweight handheld microphone with the right arm, keep 0.10m from the shiny trophy cup, hand to the left arm.",
+    "With the right arm, grab the black and white plastic microphone, pass to the left arm, keeping the black and white plastic microphone 0.10m from the smooth golden trophy.",
+    "Use the right arm to grab the black and white plastic microphone, then pass it to the left arm, avoiding the shiny trophy cup.",
+    "Grab the microphone used for audio input with the right arm, hand it to the left arm, avoiding the shiny trophy cup by 0.10m.",
+    "Use the right arm to grab the black and white plastic microphone, pass to the left arm, keep the black and white plastic microphone 0.10m from the smooth golden trophy.",
+    "Pick up the microphone used for audio input, avoid the trophy with red and blue ribbons by 0.10m, pass the microphone used for audio input from the right arm to the left arm.",
+    "Grab the lightweight handheld microphone with the right arm, keep 0.10m from the smooth golden trophy, hand to the left arm.",
+    "With the right arm, grab the microphone used for audio input, pass to the left arm, keeping the microphone used for audio input 0.10m from the shiny trophy cup.",
+    "Use the right arm to grab the lightweight handheld microphone, then pass it to the left arm, avoiding the trophy with red and blue ribbons.",
+    "Grab the microphone used for audio input with the right arm, hand it to the left arm, avoiding the smooth golden trophy by 0.10m.",
+    "Use the right arm to grab the microphone used for audio input, pass to the left arm, keep the microphone used for audio input 0.10m from the shiny trophy cup.",
+    "Pick up the lightweight handheld microphone, avoid the shiny trophy cup by 0.10m, pass the lightweight handheld microphone from the right arm to the left arm.",
+    "Grab the lightweight handheld microphone with the right arm, keep 0.10m from the smooth golden trophy, hand to the left arm.",
+    "With the right arm, grab the microphone used for audio input, pass to the left arm, keeping the microphone used for audio input 0.10m from the trophy with red and blue ribbons.",
+    "Use the right arm to grab the black and white plastic microphone, then pass it to the left arm, avoiding the shiny trophy cup.",
+    "Grab the microphone used for audio input with the right arm, hand it to the left arm, avoiding the smooth golden trophy by 0.10m.",
+    "Use the right arm to grab the microphone used for audio input, pass to the left arm, keep the microphone used for audio input 0.10m from the trophy with red and blue ribbons.",
+    "Pick up the microphone used for audio input, avoid the smooth golden trophy by 0.10m, pass the microphone used for audio input from the right arm to the left arm.",
+    "Grab the lightweight handheld microphone with the right arm, keep 0.10m from the trophy with red and blue ribbons, hand to the left arm.",
+    "With the right arm, grab the lightweight handheld microphone, pass to the left arm, keeping the lightweight handheld microphone 0.10m from the shiny trophy cup.",
+    "Use the right arm to grab the black and white plastic microphone, then pass it to the left arm, avoiding the shiny trophy cup.",
+    "Grab the microphone used for audio input with the right arm, hand it to the left arm, avoiding the shiny trophy cup by 0.10m.",
+    "Use the right arm to grab the lightweight handheld microphone, pass to the left arm, keep the lightweight handheld microphone 0.10m from the smooth golden trophy.",
+    "Pick up the black and white plastic microphone, avoid the trophy with red and blue ribbons by 0.10m, pass the black and white plastic microphone from the right arm to the left arm.",
+    "Grab the microphone used for audio input with the right arm, keep 0.10m from the smooth golden trophy, hand to the left arm.",
+    "With the right arm, grab the lightweight handheld microphone, pass to the left arm, keeping the lightweight handheld microphone 0.10m from the trophy with red and blue ribbons.",
+    "Use the right arm to grab the microphone used for audio input, then pass it to the left arm, avoiding the shiny trophy cup.",
+    "Grab the lightweight handheld microphone with the right arm, hand it to the left arm, avoiding the shiny trophy cup by 0.10m.",
+    "Use the right arm to grab the lightweight handheld microphone, pass to the left arm, keep the lightweight handheld microphone 0.10m from the smooth golden trophy.",
+    "Pick up the microphone used for audio input, avoid the smooth golden trophy by 0.10m, pass the microphone used for audio input from the right arm to the left arm.",
+    "Grab the microphone used for audio input with the right arm, keep 0.10m from the trophy with red and blue ribbons, hand to the left arm.",
+    "With the right arm, grab the black and white plastic microphone, pass to the left arm, keeping the black and white plastic microphone 0.10m from the shiny trophy cup.",
+    "Use the right arm to grab the microphone used for audio input, then pass it to the left arm, avoiding the trophy with red and blue ribbons."
+  ]
+}
\ No newline at end of file
diff --git a/handover_mic_wp1/handover_mic_wp1/instructions/episode10.json b/handover_mic_wp1/handover_mic_wp1/instructions/episode10.json
new file mode 100644
index 0000000000000000000000000000000000000000..24deb941d5ce0eab8ecdc079000b64aa0bd6afa7
--- /dev/null
+++ b/handover_mic_wp1/handover_mic_wp1/instructions/episode10.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the handheld teal microphone with the right arm, transfer to the left arm, stay away from the award trophy.",
+    "Move the microphone with slider switch from the right arm to the left arm while keeping clear of the shiny gold cup with black stand.",
+    "Take the teal microphone with the right arm, hand over to the left arm, keep the teal microphone 0.10m away from the gold prize cup.",
+    "Using the right arm, take the microphone with slider switch and hand to the left arm, keeping 0.10m from the trophy with smooth golden surface.",
+    "Let the right arm grasp the textured white microphone head, move it 0.10m from the shiny gold cup with black stand, then the left arm receives.",
+    "Pick up the sound microphone with teal body using the right arm, transfer to the left arm, keep 0.10m from the award trophy.",
+    "Have the right arm take the plastic teal microphone with slider, then the left arm takes the plastic teal microphone with slider, keep 0.10m from the smooth gold cup with sturdy pedestal.",
+    "Lift the white and teal sound microphone, keep it 0.10m away from the gold-colored prize cup with solid base, then pass it across.",
+    "Take the compact teal and white microphone with the right arm, route it away from the smooth gold cup with sturdy pedestal, then hand it to the left arm.",
+    "Grab the teal microphone, carry it around the award trophy with 0.10m clearance, then hand over.",
+    "Using the right arm, grab the textured white microphone head, keep 0.10m from the decorative trophy with shiny finish, then give the textured white microphone head to the left arm.",
+    "Take the sound microphone with teal body using the right arm, keep away from the medium trophy with pedestal base, and pass to the left arm.",
+    "With the right arm, grasp the long microphone with smooth teal grip, then hand the long microphone with smooth teal grip to the left arm, avoiding the medium trophy with pedestal base.",
+    "Use the right arm to lift the microphone with slider switch, then give the microphone with slider switch to the left arm, avoiding the trophy with smooth golden surface by 0.10m.",
+    "Get the plastic teal microphone with slider with the right arm, shift the plastic teal microphone with slider to the left arm, maintaining 0.10m from the gold prize cup.",
+    "Pick up the teal microphone, move it staying 0.10m from the gold trophy, then complete the handoff.",
+    "Secure the long microphone with smooth teal grip, route it at least 0.10m from the gold trophy, then hand it over.",
+    "Lift the compact teal and white microphone with the right arm, give the compact teal and white microphone to the left arm, keep clear of the gold-colored prize cup with solid base 0.10m.",
+    "With the right arm, take the long microphone with smooth teal grip, keep distance from the gold-colored prize cup with solid base, and give the long microphone with smooth teal grip to the left arm.",
+    "Have the right arm grasp the teal microphone, avoid the trophy with curved handles by 0.10m, and transfer the teal microphone to the left arm.",
+    "Pick up the rounded white tip microphone with the right arm, transfer to the left arm, stay away from the trophy with curved handles.",
+    "Move the handheld teal microphone from the right arm to the left arm while keeping clear of the trophy cup.",
+    "Take the microphone with white rounded head with the right arm, hand over to the left arm, keep the microphone with white rounded head 0.10m away from the trophy with curved handles.",
+    "Using the right arm, take the microphone with slider switch and hand to the left arm, keeping 0.10m from the cup-shaped trophy.",
+    "Let the right arm grasp the plastic teal microphone with slider, move it 0.10m from the gold trophy, then the left arm receives.",
+    "Pick up the rounded white tip microphone using the right arm, transfer to the left arm, keep 0.10m from the decorative trophy with shiny finish.",
+    "Have the right arm take the white and teal sound microphone, then the left arm takes the white and teal sound microphone, keep 0.10m from the shiny gold cup with black stand.",
+    "Lift the handheld teal microphone, keep it 0.10m away from the gold-colored prize cup with solid base, then pass it across.",
+    "Take the microphone with white rounded head with the right arm, route it away from the gold-colored prize cup with solid base, then hand it to the left arm.",
+    "Grab the teal microphone, carry it around the gold prize cup with 0.10m clearance, then hand over.",
+    "Using the right arm, grab the compact teal and white microphone, keep 0.10m from the smooth gold cup with sturdy pedestal, then give the compact teal and white microphone to the left arm.",
+    "Take the microphone with white rounded head using the right arm, keep away from the trophy with smooth golden surface, and pass to the left arm.",
+    "With the right arm, grasp the long microphone with smooth teal grip, then hand the long microphone with smooth teal grip to the left arm, avoiding the gold trophy.",
+    "Use the right arm to lift the textured white microphone head, then give the textured white microphone head to the left arm, avoiding the trophy with curved handles by 0.10m.",
+    "Get the microphone with white rounded head with the right arm, shift the microphone with white rounded head to the left arm, maintaining 0.10m from the gold prize cup.",
+    "Pick up the long microphone with smooth teal grip, move it staying 0.10m from the gold prize cup, then complete the handoff.",
+    "Secure the compact teal and white microphone, route it at least 0.10m from the decorative trophy with shiny finish, then hand it over.",
+    "Lift the textured white microphone head with the right arm, give the textured white microphone head to the left arm, keep clear of the smooth gold cup with sturdy pedestal 0.10m.",
+    "With the right arm, take the microphone with slider switch, keep distance from the gold-colored prize cup with solid base, and give the microphone with slider switch to the left arm.",
+    "Have the right arm grasp the textured white microphone head, avoid the trophy cup by 0.10m, and transfer the textured white microphone head to the left arm.",
+    "Pick up the plastic teal microphone with slider with the right arm, transfer to the left arm, stay away from the trophy with curved handles.",
+    "Move the white bottom microphone with textured tip from the right arm to the left arm while keeping clear of the gold prize cup.",
+    "Take the handheld teal microphone with the right arm, hand over to the left arm, keep the handheld teal microphone 0.10m away from the gold-colored prize cup with solid base.",
+    "Using the right arm, take the long microphone with smooth teal grip and hand to the left arm, keeping 0.10m from the award trophy.",
+    "Let the right arm grasp the compact teal and white microphone, move it 0.10m from the award trophy, then the left arm receives.",
+    "Pick up the sound microphone with teal body using the right arm, transfer to the left arm, keep 0.10m from the trophy cup.",
+    "Have the right arm take the plastic teal microphone with slider, then the left arm takes the plastic teal microphone with slider, keep 0.10m from the trophy with smooth golden surface.",
+    "Lift the white bottom microphone with textured tip, keep it 0.10m away from the trophy with smooth golden surface, then pass it across.",
+    "Take the compact teal and white microphone with the right arm, route it away from the smooth gold cup with sturdy pedestal, then hand it to the left arm.",
+    "Grab the white and teal sound microphone, carry it around the shiny gold cup with black stand with 0.10m clearance, then hand over.",
+    "Using the right arm, grab the sound microphone with teal body, keep 0.10m from the decorative trophy with shiny finish, then give the sound microphone with teal body to the left arm.",
+    "Take the microphone with white rounded head using the right arm, keep away from the trophy with smooth golden surface, and pass to the left arm.",
+    "With the right arm, grasp the white bottom microphone with textured tip, then hand the white bottom microphone with textured tip to the left arm, avoiding the trophy cup.",
+    "Use the right arm to lift the white and teal sound microphone, then give the white and teal sound microphone to the left arm, avoiding the smooth gold cup with sturdy pedestal by 0.10m.",
+    "Get the compact teal and white microphone with the right arm, shift the compact teal and white microphone to the left arm, maintaining 0.10m from the gold-colored prize cup with solid base.",
+    "Pick up the teal microphone, move it staying 0.10m from the gold prize cup, then complete the handoff.",
+    "Secure the textured white microphone head, route it at least 0.10m from the decorative trophy with shiny finish, then hand it over.",
+    "Lift the handheld teal microphone with the right arm, give the handheld teal microphone to the left arm, keep clear of the gold-colored prize cup with solid base 0.10m.",
+    "With the right arm, take the textured white microphone head, keep distance from the gold-colored prize cup with solid base, and give the textured white microphone head to the left arm.",
+    "Have the right arm grasp the long microphone with smooth teal grip, avoid the medium trophy with pedestal base by 0.10m, and transfer the long microphone with smooth teal grip to the left arm.",
+    "Pick up the compact teal and white microphone with the right arm, transfer to the left arm, stay away from the award trophy.",
+    "Move the long microphone with smooth teal grip from the right arm to the left arm while keeping clear of the smooth gold cup with sturdy pedestal.",
+    "Take the teal microphone with the right arm, hand over to the left arm, keep the teal microphone 0.10m away from the gold trophy.",
+    "Using the right arm, take the handheld teal microphone and hand to the left arm, keeping 0.10m from the medium trophy with pedestal base.",
+    "Let the right arm grasp the long microphone with smooth teal grip, move it 0.10m from the trophy with smooth golden surface, then the left arm receives.",
+    "Pick up the long microphone with smooth teal grip using the right arm, transfer to the left arm, keep 0.10m from the medium trophy with pedestal base.",
+    "Have the right arm take the compact teal and white microphone, then the left arm takes the compact teal and white microphone, keep 0.10m from the award trophy.",
+    "Lift the sound microphone with teal body, keep it 0.10m away from the trophy with smooth golden surface, then pass it across.",
+    "Take the long microphone with smooth teal grip with the right arm, route it away from the gold prize cup, then hand it to the left arm.",
+    "Grab the plastic teal microphone with slider, carry it around the shiny gold cup with black stand with 0.10m clearance, then hand over.",
+    "Using the right arm, grab the textured white microphone head, keep 0.10m from the gold trophy, then give the textured white microphone head to the left arm.",
+    "Take the textured white microphone head using the right arm, keep away from the decorative trophy with shiny finish, and pass to the left arm.",
+    "With the right arm, grasp the long microphone with smooth teal grip, then hand the long microphone with smooth teal grip to the left arm, avoiding the smooth gold cup with sturdy pedestal.",
+    "Use the right arm to lift the textured white microphone head, then give the textured white microphone head to the left arm, avoiding the smooth gold cup with sturdy pedestal by 0.10m.",
+    "Get the microphone with slider switch with the right arm, shift the microphone with slider switch to the left arm, maintaining 0.10m from the gold trophy.",
+    "Pick up the microphone with slider switch, move it staying 0.10m from the gold-colored prize cup with solid base, then complete the handoff.",
+    "Secure the white and teal sound microphone, route it at least 0.10m from the shiny gold cup with black stand, then hand it over.",
+    "Lift the microphone with white rounded head with the right arm, give the microphone with white rounded head to the left arm, keep clear of the trophy with curved handles 0.10m.",
+    "With the right arm, take the white bottom microphone with textured tip, keep distance from the trophy cup, and give the white bottom microphone with textured tip to the left arm.",
+    "Have the right arm grasp the microphone with slider switch, avoid the gold prize cup by 0.10m, and transfer the microphone with slider switch to the left arm.",
+    "Pick up the plastic teal microphone with slider with the right arm, transfer to the left arm, stay away from the medium trophy with pedestal base.",
+    "Move the plastic teal microphone with slider from the right arm to the left arm while keeping clear of the trophy with curved handles.",
+    "Take the microphone with white rounded head with the right arm, hand over to the left arm, keep the microphone with white rounded head 0.10m away from the medium trophy with pedestal base.",
+    "Using the right arm, take the teal microphone and hand to the left arm, keeping 0.10m from the award trophy.",
+    "Let the right arm grasp the microphone with slider switch, move it 0.10m from the trophy with curved handles, then the left arm receives.",
+    "Pick up the compact teal and white microphone using the right arm, transfer to the left arm, keep 0.10m from the decorative trophy with shiny finish.",
+    "Have the right arm take the textured white microphone head, then the left arm takes the textured white microphone head, keep 0.10m from the shiny gold cup with black stand.",
+    "Lift the microphone with slider switch, keep it 0.10m away from the award trophy, then pass it across.",
+    "Take the white and teal sound microphone with the right arm, route it away from the shiny gold cup with black stand, then hand it to the left arm.",
+    "Grab the teal microphone, carry it around the decorative trophy with shiny finish with 0.10m clearance, then hand over.",
+    "Using the right arm, grab the long microphone with smooth teal grip, keep 0.10m from the gold prize cup, then give the long microphone with smooth teal grip to the left arm.",
+    "Take the plastic teal microphone with slider using the right arm, keep away from the cup-shaped trophy, and pass to the left arm.",
+    "With the right arm, grasp the compact teal and white microphone, then hand the compact teal and white microphone to the left arm, avoiding the gold-colored prize cup with solid base.",
+    "Use the right arm to lift the teal microphone, then give the teal microphone to the left arm, avoiding the trophy with curved handles by 0.10m.",
+    "Get the long microphone with smooth teal grip with the right arm, shift the long microphone with smooth teal grip to the left arm, maintaining 0.10m from the smooth gold cup with sturdy pedestal.",
+    "Pick up the handheld teal microphone, move it staying 0.10m from the gold prize cup, then complete the handoff.",
+    "Secure the microphone with white rounded head, route it at least 0.10m from the gold prize cup, then hand it over.",
+    "Lift the long microphone with smooth teal grip with the right arm, give the long microphone with smooth teal grip to the left arm, keep clear of the gold-colored prize cup with solid base 0.10m.",
+    "With the right arm, take the microphone with white rounded head, keep distance from the trophy with curved handles, and give the microphone with white rounded head to the left arm.",
+    "Have the right arm grasp the rounded white tip microphone, avoid the decorative trophy with shiny finish by 0.10m, and transfer the rounded white tip microphone to the left arm."
+  ],
+  "unseen": [
+    "Grab the switchable microphone with teal body with the right arm, keep 0.10m from the golden cup with black base, hand to the left arm.",
+    "Use the right arm to grab the long teal microphone with white grooves, then pass it to the left arm, avoiding the golden cup with black base.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the golden cup with black base by 0.10m.",
+    "Pick up the long teal microphone with white grooves, avoid the golden award with rectangular black base by 0.10m, pass the long teal microphone with white grooves from the right arm to the left arm.",
+    "With the right arm, grab the teal microphone with white bottom, pass to the left arm, keeping the teal microphone with white bottom 0.10m from the golden award with rectangular black base.",
+    "Use the right arm to grab the long teal microphone with white grooves, pass to the left arm, keep the long teal microphone with white grooves 0.10m from the golden cup with black base.",
+    "Grab the long teal microphone with white grooves with the right arm, keep 0.10m from the gold cup with side handles, hand to the left arm.",
+    "Use the right arm to grab the long teal microphone with white grooves, then pass it to the left arm, avoiding the golden cup with black base.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the golden cup with black base by 0.10m.",
+    "Pick up the long teal microphone with white grooves, avoid the golden cup with black base by 0.10m, pass the long teal microphone with white grooves from the right arm to the left arm.",
+    "With the right arm, grab the switchable microphone with teal body, pass to the left arm, keeping the switchable microphone with teal body 0.10m from the golden cup with black base.",
+    "Use the right arm to grab the long teal microphone with white grooves, pass to the left arm, keep the long teal microphone with white grooves 0.10m from the golden award with rectangular black base.",
+    "Grab the switchable microphone with teal body with the right arm, keep 0.10m from the gold cup with side handles, hand to the left arm.",
+    "Use the right arm to grab the teal microphone with white bottom, then pass it to the left arm, avoiding the golden cup with black base.",
+    "Grab the teal microphone with white bottom with the right arm, hand it to the left arm, avoiding the gold cup with side handles by 0.10m.",
+    "Pick up the teal microphone with white bottom, avoid the golden cup with black base by 0.10m, pass the teal microphone with white bottom from the right arm to the left arm.",
+    "With the right arm, grab the teal microphone with white bottom, pass to the left arm, keeping the teal microphone with white bottom 0.10m from the golden cup with black base.",
+    "Use the right arm to grab the teal microphone with white bottom, pass to the left arm, keep the teal microphone with white bottom 0.10m from the golden award with rectangular black base.",
+    "Grab the long teal microphone with white grooves with the right arm, keep 0.10m from the golden award with rectangular black base, hand to the left arm.",
+    "Use the right arm to grab the switchable microphone with teal body, then pass it to the left arm, avoiding the golden cup with black base.",
+    "Grab the teal microphone with white bottom with the right arm, hand it to the left arm, avoiding the golden award with rectangular black base by 0.10m.",
+    "Pick up the long teal microphone with white grooves, avoid the golden award with rectangular black base by 0.10m, pass the long teal microphone with white grooves from the right arm to the left arm.",
+    "With the right arm, grab the teal microphone with white bottom, pass to the left arm, keeping the teal microphone with white bottom 0.10m from the gold cup with side handles.",
+    "Use the right arm to grab the long teal microphone with white grooves, pass to the left arm, keep the long teal microphone with white grooves 0.10m from the golden award with rectangular black base.",
+    "Grab the teal microphone with white bottom with the right arm, keep 0.10m from the golden cup with black base, hand to the left arm.",
+    "Use the right arm to grab the switchable microphone with teal body, then pass it to the left arm, avoiding the golden award with rectangular black base.",
+    "Grab the teal microphone with white bottom with the right arm, hand it to the left arm, avoiding the golden award with rectangular black base by 0.10m.",
+    "Pick up the switchable microphone with teal body, avoid the gold cup with side handles by 0.10m, pass the switchable microphone with teal body from the right arm to the left arm.",
+    "With the right arm, grab the teal microphone with white bottom, pass to the left arm, keeping the teal microphone with white bottom 0.10m from the gold cup with side handles.",
+    "Use the right arm to grab the teal microphone with white bottom, pass to the left arm, keep the teal microphone with white bottom 0.10m from the golden award with rectangular black base.",
+    "Grab the long teal microphone with white grooves with the right arm, keep 0.10m from the gold cup with side handles, hand to the left arm.",
+    "Use the right arm to grab the long teal microphone with white grooves, then pass it to the left arm, avoiding the golden cup with black base.",
+    "Grab the long teal microphone with white grooves with the right arm, hand it to the left arm, avoiding the gold cup with side handles by 0.10m.",
+    "Pick up the long teal microphone with white grooves, avoid the golden cup with black base by 0.10m, pass the long teal microphone with white grooves from the right arm to the left arm.",
+    "With the right arm, grab the teal microphone with white bottom, pass to the left arm, keeping the teal microphone with white bottom 0.10m from the golden cup with black base.",
+    "Use the right arm to grab the switchable microphone with teal body, pass to the left arm, keep the switchable microphone with teal body 0.10m from the golden cup with black base.",
+    "Grab the teal microphone with white bottom with the right arm, keep 0.10m from the golden cup with black base, hand to the left arm.",
+    "Use the right arm to grab the long teal microphone with white grooves, then pass it to the left arm, avoiding the gold cup with side handles.",
+    "Grab the long teal microphone with white grooves with the right arm, hand it to the left arm, avoiding the golden award with rectangular black base by 0.10m.",
+    "Pick up the switchable microphone with teal body, avoid the golden cup with black base by 0.10m, pass the switchable microphone with teal body from the right arm to the left arm.",
+    "With the right arm, grab the long teal microphone with white grooves, pass to the left arm, keeping the long teal microphone with white grooves 0.10m from the golden award with rectangular black base.",
+    "Use the right arm to grab the switchable microphone with teal body, pass to the left arm, keep the switchable microphone with teal body 0.10m from the golden award with rectangular black base.",
+    "Grab the long teal microphone with white grooves with the right arm, keep 0.10m from the golden award with rectangular black base, hand to the left arm.",
+    "Use the right arm to grab the long teal microphone with white grooves, then pass it to the left arm, avoiding the golden award with rectangular black base.",
+    "Grab the teal microphone with white bottom with the right arm, hand it to the left arm, avoiding the gold cup with side handles by 0.10m.",
+    "Pick up the teal microphone with white bottom, avoid the golden award with rectangular black base by 0.10m, pass the teal microphone with white bottom from the right arm to the left arm.",
+    "With the right arm, grab the switchable microphone with teal body, pass to the left arm, keeping the switchable microphone with teal body 0.10m from the gold cup with side handles.",
+    "Use the right arm to grab the teal microphone with white bottom, pass to the left arm, keep the teal microphone with white bottom 0.10m from the gold cup with side handles.",
+    "Grab the switchable microphone with teal body with the right arm, keep 0.10m from the golden award with rectangular black base, hand to the left arm.",
+    "Use the right arm to grab the switchable microphone with teal body, then pass it to the left arm, avoiding the gold cup with side handles.",
+    "Grab the long teal microphone with white grooves with the right arm, hand it to the left arm, avoiding the gold cup with side handles by 0.10m.",
+    "Pick up the teal microphone with white bottom, avoid the golden award with rectangular black base by 0.10m, pass the teal microphone with white bottom from the right arm to the left arm.",
+    "With the right arm, grab the switchable microphone with teal body, pass to the left arm, keeping the switchable microphone with teal body 0.10m from the golden award with rectangular black base.",
+    "Use the right arm to grab the switchable microphone with teal body, pass to the left arm, keep the switchable microphone with teal body 0.10m from the gold cup with side handles.",
+    "Grab the teal microphone with white bottom with the right arm, keep 0.10m from the golden cup with black base, hand to the left arm.",
+    "Use the right arm to grab the teal microphone with white bottom, then pass it to the left arm, avoiding the golden award with rectangular black base.",
+    "Grab the teal microphone with white bottom with the right arm, hand it to the left arm, avoiding the golden cup with black base by 0.10m.",
+    "Pick up the long teal microphone with white grooves, avoid the golden cup with black base by 0.10m, pass the long teal microphone with white grooves from the right arm to the left arm.",
+    "With the right arm, grab the switchable microphone with teal body, pass to the left arm, keeping the switchable microphone with teal body 0.10m from the golden award with rectangular black base.",
+    "Use the right arm to grab the long teal microphone with white grooves, pass to the left arm, keep the long teal microphone with white grooves 0.10m from the gold cup with side handles.",
+    "Grab the teal microphone with white bottom with the right arm, keep 0.10m from the golden award with rectangular black base, hand to the left arm.",
+    "Use the right arm to grab the teal microphone with white bottom, then pass it to the left arm, avoiding the golden cup with black base.",
+    "Grab the long teal microphone with white grooves with the right arm, hand it to the left arm, avoiding the golden award with rectangular black base by 0.10m.",
+    "Pick up the switchable microphone with teal body, avoid the golden cup with black base by 0.10m, pass the switchable microphone with teal body from the right arm to the left arm.",
+    "With the right arm, grab the switchable microphone with teal body, pass to the left arm, keeping the switchable microphone with teal body 0.10m from the golden award with rectangular black base.",
+    "Use the right arm to grab the switchable microphone with teal body, pass to the left arm, keep the switchable microphone with teal body 0.10m from the golden cup with black base.",
+    "Grab the teal microphone with white bottom with the right arm, keep 0.10m from the gold cup with side handles, hand to the left arm.",
+    "Use the right arm to grab the teal microphone with white bottom, then pass it to the left arm, avoiding the golden award with rectangular black base.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the golden cup with black base by 0.10m.",
+    "Pick up the long teal microphone with white grooves, avoid the golden cup with black base by 0.10m, pass the long teal microphone with white grooves from the right arm to the left arm.",
+    "With the right arm, grab the teal microphone with white bottom, pass to the left arm, keeping the teal microphone with white bottom 0.10m from the golden cup with black base.",
+    "Use the right arm to grab the switchable microphone with teal body, pass to the left arm, keep the switchable microphone with teal body 0.10m from the gold cup with side handles.",
+    "Grab the long teal microphone with white grooves with the right arm, keep 0.10m from the gold cup with side handles, hand to the left arm.",
+    "Use the right arm to grab the long teal microphone with white grooves, then pass it to the left arm, avoiding the golden cup with black base.",
+    "Grab the teal microphone with white bottom with the right arm, hand it to the left arm, avoiding the golden award with rectangular black base by 0.10m.",
+    "Pick up the teal microphone with white bottom, avoid the golden award with rectangular black base by 0.10m, pass the teal microphone with white bottom from the right arm to the left arm.",
+    "With the right arm, grab the teal microphone with white bottom, pass to the left arm, keeping the teal microphone with white bottom 0.10m from the golden award with rectangular black base.",
+    "Use the right arm to grab the switchable microphone with teal body, pass to the left arm, keep the switchable microphone with teal body 0.10m from the gold cup with side handles.",
+    "Grab the switchable microphone with teal body with the right arm, keep 0.10m from the golden cup with black base, hand to the left arm.",
+    "Use the right arm to grab the long teal microphone with white grooves, then pass it to the left arm, avoiding the gold cup with side handles.",
+    "Grab the long teal microphone with white grooves with the right arm, hand it to the left arm, avoiding the golden cup with black base by 0.10m.",
+    "Pick up the teal microphone with white bottom, avoid the gold cup with side handles by 0.10m, pass the teal microphone with white bottom from the right arm to the left arm.",
+    "With the right arm, grab the teal microphone with white bottom, pass to the left arm, keeping the teal microphone with white bottom 0.10m from the gold cup with side handles.",
+    "Use the right arm to grab the long teal microphone with white grooves, pass to the left arm, keep the long teal microphone with white grooves 0.10m from the golden award with rectangular black base.",
+    "Grab the long teal microphone with white grooves with the right arm, keep 0.10m from the golden award with rectangular black base, hand to the left arm.",
+    "Use the right arm to grab the teal microphone with white bottom, then pass it to the left arm, avoiding the golden cup with black base.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the golden award with rectangular black base by 0.10m.",
+    "Pick up the teal microphone with white bottom, avoid the golden cup with black base by 0.10m, pass the teal microphone with white bottom from the right arm to the left arm.",
+    "With the right arm, grab the teal microphone with white bottom, pass to the left arm, keeping the teal microphone with white bottom 0.10m from the gold cup with side handles.",
+    "Use the right arm to grab the switchable microphone with teal body, pass to the left arm, keep the switchable microphone with teal body 0.10m from the gold cup with side handles.",
+    "Grab the long teal microphone with white grooves with the right arm, keep 0.10m from the golden cup with black base, hand to the left arm.",
+    "Use the right arm to grab the long teal microphone with white grooves, then pass it to the left arm, avoiding the golden award with rectangular black base.",
+    "Grab the long teal microphone with white grooves with the right arm, hand it to the left arm, avoiding the golden award with rectangular black base by 0.10m.",
+    "Pick up the long teal microphone with white grooves, avoid the golden award with rectangular black base by 0.10m, pass the long teal microphone with white grooves from the right arm to the left arm.",
+    "With the right arm, grab the teal microphone with white bottom, pass to the left arm, keeping the teal microphone with white bottom 0.10m from the golden cup with black base.",
+    "Use the right arm to grab the long teal microphone with white grooves, pass to the left arm, keep the long teal microphone with white grooves 0.10m from the golden award with rectangular black base.",
+    "Grab the switchable microphone with teal body with the right arm, keep 0.10m from the gold cup with side handles, hand to the left arm.",
+    "Use the right arm to grab the teal microphone with white bottom, then pass it to the left arm, avoiding the golden award with rectangular black base.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the gold cup with side handles by 0.10m.",
+    "Pick up the teal microphone with white bottom, avoid the golden cup with black base by 0.10m, pass the teal microphone with white bottom from the right arm to the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/handover_mic_wp1/handover_mic_wp1/instructions/episode11.json b/handover_mic_wp1/handover_mic_wp1/instructions/episode11.json
new file mode 100644
index 0000000000000000000000000000000000000000..042b1011ef07666cdcdefc39efdc156ff3c1c59e
--- /dev/null
+++ b/handover_mic_wp1/handover_mic_wp1/instructions/episode11.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the medium microphone with two-tone color with the left arm, route it away from the tall award trophy with glossy surface, then hand it to the right arm.",
+    "Let the left arm grasp the small audio microphone, move it 0.10m from the smooth metallic cup with flat bottom, then the right arm receives.",
+    "Grab the audio microphone with soft covering, carry it around the golden yellow cup-shaped prize trophy with 0.10m clearance, then hand over.",
+    "With the left arm, take the dark blue microphone, keep distance from the achievement cup with curved side handles, and give the dark blue microphone to the right arm.",
+    "Take the gray and dark blue microphone using the left arm, keep away from the shiny yellow trophy, and pass to the right arm.",
+    "Using the left arm, take the round head microphone and hand to the right arm, keeping 0.10m from the tall award trophy with glossy surface.",
+    "Using the left arm, grab the gray and dark blue microphone, keep 0.10m from the achievement cup with curved side handles, then give the gray and dark blue microphone to the right arm.",
+    "Use the left arm to lift the microphone with smooth gray stem, then give the microphone with smooth gray stem to the right arm, avoiding the trophy with sleek golden finish by 0.10m.",
+    "Move the microphone with round foam head from the left arm to the right arm while keeping clear of the golden yellow cup-shaped prize trophy.",
+    "Pick up the medium microphone with two-tone color using the left arm, transfer to the right arm, keep 0.10m from the golden trophy.",
+    "Pick up the microphone covered with foam tip, move it staying 0.10m from the smooth metallic cup with flat bottom, then complete the handoff.",
+    "Lift the microphone with smooth gray stem with the left arm, give the microphone with smooth gray stem to the right arm, keep clear of the shiny yellow trophy 0.10m.",
+    "Pick up the microphone with round foam head with the left arm, transfer to the right arm, stay away from the golden cup with curved handles.",
+    "Take the dark blue microphone with the left arm, hand over to the right arm, keep the dark blue microphone 0.10m away from the golden trophy.",
+    "Secure the microphone covered with foam tip, route it at least 0.10m from the trophy with sleek golden finish, then hand it over.",
+    "With the left arm, grasp the microphone with dark blue padding, then hand the microphone with dark blue padding to the right arm, avoiding the golden cup with curved handles.",
+    "Have the left arm grasp the medium microphone with two-tone color, avoid the golden yellow cup-shaped prize trophy by 0.10m, and transfer the medium microphone with two-tone color to the right arm.",
+    "Get the microphone covered with foam tip with the left arm, shift the microphone covered with foam tip to the right arm, maintaining 0.10m from the achievement cup with curved side handles.",
+    "Lift the small audio microphone, keep it 0.10m away from the award trophy with two handles, then pass it across.",
+    "Have the left arm take the small audio microphone, then the right arm takes the small audio microphone, keep 0.10m from the award trophy with two handles.",
+    "Take the round head microphone with the left arm, route it away from the golden yellow cup-shaped prize trophy, then hand it to the right arm.",
+    "Let the left arm grasp the small audio microphone, move it 0.10m from the shiny yellow trophy, then the right arm receives.",
+    "Grab the gray and dark blue microphone, carry it around the tall yellow trophy with small neck with 0.10m clearance, then hand over.",
+    "With the left arm, take the gray and dark blue microphone, keep distance from the smooth metallic cup with flat bottom, and give the gray and dark blue microphone to the right arm.",
+    "Take the small audio microphone using the left arm, keep away from the tall yellow trophy with small neck, and pass to the right arm.",
+    "Using the left arm, take the medium microphone with two-tone color and hand to the right arm, keeping 0.10m from the golden cup with curved handles.",
+    "Using the left arm, grab the dark blue microphone, keep 0.10m from the award trophy with two handles, then give the dark blue microphone to the right arm.",
+    "Use the left arm to lift the microphone with smooth gray stem, then give the microphone with smooth gray stem to the right arm, avoiding the golden yellow cup-shaped prize trophy by 0.10m.",
+    "Move the medium microphone with two-tone color from the left arm to the right arm while keeping clear of the tall award trophy with glossy surface.",
+    "Pick up the microphone with round foam head using the left arm, transfer to the right arm, keep 0.10m from the achievement cup with curved side handles.",
+    "Pick up the audio microphone with soft covering, move it staying 0.10m from the golden yellow cup-shaped prize trophy, then complete the handoff.",
+    "Lift the small audio microphone with the left arm, give the small audio microphone to the right arm, keep clear of the golden trophy 0.10m.",
+    "Pick up the medium microphone with two-tone color with the left arm, transfer to the right arm, stay away from the golden trophy.",
+    "Take the gray and dark blue microphone with the left arm, hand over to the right arm, keep the gray and dark blue microphone 0.10m away from the achievement cup with curved side handles.",
+    "Secure the microphone for recording sound, route it at least 0.10m from the trophy with sleek golden finish, then hand it over.",
+    "With the left arm, grasp the dark blue microphone, then hand the dark blue microphone to the right arm, avoiding the trophy with sleek golden finish.",
+    "Have the left arm grasp the dark blue microphone, avoid the achievement cup with curved side handles by 0.10m, and transfer the dark blue microphone to the right arm.",
+    "Get the microphone with dark blue padding with the left arm, shift the microphone with dark blue padding to the right arm, maintaining 0.10m from the award trophy with two handles.",
+    "Lift the microphone with round foam head, keep it 0.10m away from the shiny trophy for winning competitions, then pass it across.",
+    "Have the left arm take the audio microphone with soft covering, then the right arm takes the audio microphone with soft covering, keep 0.10m from the achievement cup with curved side handles.",
+    "Take the microphone with smooth gray stem with the left arm, route it away from the smooth metallic cup with flat bottom, then hand it to the right arm.",
+    "Let the left arm grasp the medium microphone with two-tone color, move it 0.10m from the golden yellow cup-shaped prize trophy, then the right arm receives.",
+    "Grab the dark blue microphone, carry it around the golden yellow cup-shaped prize trophy with 0.10m clearance, then hand over.",
+    "With the left arm, take the dark blue microphone, keep distance from the golden trophy, and give the dark blue microphone to the right arm.",
+    "Take the gray stem microphone with foam top using the left arm, keep away from the tall award trophy with glossy surface, and pass to the right arm.",
+    "Using the left arm, take the microphone covered with foam tip and hand to the right arm, keeping 0.10m from the tall yellow trophy with small neck.",
+    "Using the left arm, grab the small audio microphone, keep 0.10m from the golden trophy, then give the small audio microphone to the right arm.",
+    "Use the left arm to lift the round head microphone, then give the round head microphone to the right arm, avoiding the golden yellow cup-shaped prize trophy by 0.10m.",
+    "Move the gray stem microphone with foam top from the left arm to the right arm while keeping clear of the award trophy with two handles.",
+    "Pick up the microphone for recording sound using the left arm, transfer to the right arm, keep 0.10m from the golden yellow cup-shaped prize trophy.",
+    "Pick up the gray stem microphone with foam top, move it staying 0.10m from the tall award trophy with glossy surface, then complete the handoff.",
+    "Lift the microphone covered with foam tip with the left arm, give the microphone covered with foam tip to the right arm, keep clear of the tall yellow trophy with small neck 0.10m.",
+    "Pick up the gray stem microphone with foam top with the left arm, transfer to the right arm, stay away from the metallic yellow cup-shaped trophy.",
+    "Take the audio microphone with soft covering with the left arm, hand over to the right arm, keep the audio microphone with soft covering 0.10m away from the shiny trophy for winning competitions.",
+    "Secure the microphone with round foam head, route it at least 0.10m from the golden cup with curved handles, then hand it over.",
+    "With the left arm, grasp the microphone with round foam head, then hand the microphone with round foam head to the right arm, avoiding the metallic yellow cup-shaped trophy.",
+    "Have the left arm grasp the gray and dark blue microphone, avoid the award trophy with two handles by 0.10m, and transfer the gray and dark blue microphone to the right arm.",
+    "Get the dark blue microphone with the left arm, shift the dark blue microphone to the right arm, maintaining 0.10m from the trophy with sleek golden finish.",
+    "Lift the dark blue microphone, keep it 0.10m away from the tall award trophy with glossy surface, then pass it across.",
+    "Have the left arm take the microphone covered with foam tip, then the right arm takes the microphone covered with foam tip, keep 0.10m from the golden trophy.",
+    "Take the microphone for recording sound with the left arm, route it away from the golden yellow cup-shaped prize trophy, then hand it to the right arm.",
+    "Let the left arm grasp the round head microphone, move it 0.10m from the golden cup with curved handles, then the right arm receives.",
+    "Grab the microphone covered with foam tip, carry it around the metallic yellow cup-shaped trophy with 0.10m clearance, then hand over.",
+    "With the left arm, take the round head microphone, keep distance from the metallic yellow cup-shaped trophy, and give the round head microphone to the right arm.",
+    "Take the medium microphone with two-tone color using the left arm, keep away from the trophy with sleek golden finish, and pass to the right arm.",
+    "Using the left arm, take the microphone with smooth gray stem and hand to the right arm, keeping 0.10m from the shiny yellow trophy.",
+    "Using the left arm, grab the microphone with smooth gray stem, keep 0.10m from the trophy with sleek golden finish, then give the microphone with smooth gray stem to the right arm.",
+    "Use the left arm to lift the round head microphone, then give the round head microphone to the right arm, avoiding the achievement cup with curved side handles by 0.10m.",
+    "Move the medium microphone with two-tone color from the left arm to the right arm while keeping clear of the trophy with sleek golden finish.",
+    "Pick up the dark blue microphone using the left arm, transfer to the right arm, keep 0.10m from the golden cup with curved handles.",
+    "Pick up the microphone for recording sound, move it staying 0.10m from the award trophy with two handles, then complete the handoff.",
+    "Lift the microphone with dark blue padding with the left arm, give the microphone with dark blue padding to the right arm, keep clear of the smooth metallic cup with flat bottom 0.10m.",
+    "Pick up the gray stem microphone with foam top with the left arm, transfer to the right arm, stay away from the tall award trophy with glossy surface.",
+    "Take the round head microphone with the left arm, hand over to the right arm, keep the round head microphone 0.10m away from the smooth metallic cup with flat bottom.",
+    "Secure the dark blue microphone, route it at least 0.10m from the smooth metallic cup with flat bottom, then hand it over.",
+    "With the left arm, grasp the microphone with round foam head, then hand the microphone with round foam head to the right arm, avoiding the achievement cup with curved side handles.",
+    "Have the left arm grasp the microphone with round foam head, avoid the achievement cup with curved side handles by 0.10m, and transfer the microphone with round foam head to the right arm.",
+    "Get the dark blue microphone with the left arm, shift the dark blue microphone to the right arm, maintaining 0.10m from the trophy with sleek golden finish.",
+    "Lift the microphone with round foam head, keep it 0.10m away from the golden yellow cup-shaped prize trophy, then pass it across.",
+    "Have the left arm take the microphone with round foam head, then the right arm takes the microphone with round foam head, keep 0.10m from the golden trophy.",
+    "Take the microphone for recording sound with the left arm, route it away from the shiny trophy for winning competitions, then hand it to the right arm.",
+    "Let the left arm grasp the medium microphone with two-tone color, move it 0.10m from the golden trophy, then the right arm receives.",
+    "Grab the microphone with dark blue padding, carry it around the shiny trophy for winning competitions with 0.10m clearance, then hand over.",
+    "With the left arm, take the gray and dark blue microphone, keep distance from the achievement cup with curved side handles, and give the gray and dark blue microphone to the right arm.",
+    "Take the round head microphone using the left arm, keep away from the trophy with sleek golden finish, and pass to the right arm.",
+    "Using the left arm, take the microphone with dark blue padding and hand to the right arm, keeping 0.10m from the award trophy with two handles.",
+    "Using the left arm, grab the microphone covered with foam tip, keep 0.10m from the achievement cup with curved side handles, then give the microphone covered with foam tip to the right arm.",
+    "Use the left arm to lift the audio microphone with soft covering, then give the audio microphone with soft covering to the right arm, avoiding the golden trophy by 0.10m.",
+    "Move the microphone with dark blue padding from the left arm to the right arm while keeping clear of the golden cup with curved handles.",
+    "Pick up the audio microphone with soft covering using the left arm, transfer to the right arm, keep 0.10m from the trophy with sleek golden finish.",
+    "Pick up the small audio microphone, move it staying 0.10m from the tall yellow trophy with small neck, then complete the handoff.",
+    "Lift the microphone for recording sound with the left arm, give the microphone for recording sound to the right arm, keep clear of the shiny yellow trophy 0.10m.",
+    "Pick up the microphone with round foam head with the left arm, transfer to the right arm, stay away from the tall yellow trophy with small neck.",
+    "Take the medium microphone with two-tone color with the left arm, hand over to the right arm, keep the medium microphone with two-tone color 0.10m away from the trophy with sleek golden finish.",
+    "Secure the round head microphone, route it at least 0.10m from the tall yellow trophy with small neck, then hand it over.",
+    "With the left arm, grasp the microphone with smooth gray stem, then hand the microphone with smooth gray stem to the right arm, avoiding the golden yellow cup-shaped prize trophy.",
+    "Have the left arm grasp the microphone with smooth gray stem, avoid the golden cup with curved handles by 0.10m, and transfer the microphone with smooth gray stem to the right arm.",
+    "Get the microphone with round foam head with the left arm, shift the microphone with round foam head to the right arm, maintaining 0.10m from the metallic yellow cup-shaped trophy.",
+    "Lift the medium microphone with two-tone color, keep it 0.10m away from the smooth metallic cup with flat bottom, then pass it across.",
+    "Have the left arm take the microphone covered with foam tip, then the right arm takes the microphone covered with foam tip, keep 0.10m from the shiny yellow trophy."
+  ],
+  "unseen": [
+    "Grab the handheld microphone with the left arm, hand it to the right arm, avoiding the medium-sized golden prize cup by 0.10m.",
+    "With the left arm, grab the handheld microphone, pass to the right arm, keeping the handheld microphone 0.10m from the prize trophy with sturdy round base.",
+    "Use the left arm to grab the handheld microphone, pass to the right arm, keep the handheld microphone 0.10m from the prize trophy with sturdy round base.",
+    "Pick up the compact microphone with two parts, avoid the medium-sized golden prize cup by 0.10m, pass the compact microphone with two parts from the left arm to the right arm.",
+    "Grab the compact microphone with two parts with the left arm, keep 0.10m from the medium-sized golden prize cup, hand to the right arm.",
+    "Use the left arm to grab the handheld microphone, then pass it to the right arm, avoiding the medium-sized golden prize cup.",
+    "Grab the microphone with cylindrical handle with the left arm, hand it to the right arm, avoiding the prize trophy with sturdy round base by 0.10m.",
+    "With the left arm, grab the handheld microphone, pass to the right arm, keeping the handheld microphone 0.10m from the prize trophy with sturdy round base.",
+    "Use the left arm to grab the handheld microphone, pass to the right arm, keep the handheld microphone 0.10m from the medium-sized golden prize cup.",
+    "Pick up the microphone with cylindrical handle, avoid the medium-sized golden prize cup by 0.10m, pass the microphone with cylindrical handle from the left arm to the right arm.",
+    "Grab the microphone with cylindrical handle with the left arm, keep 0.10m from the medium-sized golden prize cup, hand to the right arm.",
+    "Use the left arm to grab the handheld microphone, then pass it to the right arm, avoiding the prize trophy with sturdy round base.",
+    "Grab the microphone with cylindrical handle with the left arm, hand it to the right arm, avoiding the prize trophy with sturdy round base by 0.10m.",
+    "With the left arm, grab the microphone with cylindrical handle, pass to the right arm, keeping the microphone with cylindrical handle 0.10m from the smooth trophy with wide base.",
+    "Use the left arm to grab the handheld microphone, pass to the right arm, keep the handheld microphone 0.10m from the prize trophy with sturdy round base.",
+    "Pick up the handheld microphone, avoid the medium-sized golden prize cup by 0.10m, pass the handheld microphone from the left arm to the right arm.",
+    "Grab the compact microphone with two parts with the left arm, keep 0.10m from the prize trophy with sturdy round base, hand to the right arm.",
+    "Use the left arm to grab the microphone with cylindrical handle, then pass it to the right arm, avoiding the prize trophy with sturdy round base.",
+    "Grab the microphone with cylindrical handle with the left arm, hand it to the right arm, avoiding the medium-sized golden prize cup by 0.10m.",
+    "With the left arm, grab the microphone with cylindrical handle, pass to the right arm, keeping the microphone with cylindrical handle 0.10m from the medium-sized golden prize cup.",
+    "Use the left arm to grab the handheld microphone, pass to the right arm, keep the handheld microphone 0.10m from the prize trophy with sturdy round base.",
+    "Pick up the handheld microphone, avoid the prize trophy with sturdy round base by 0.10m, pass the handheld microphone from the left arm to the right arm.",
+    "Grab the handheld microphone with the left arm, keep 0.10m from the medium-sized golden prize cup, hand to the right arm.",
+    "Use the left arm to grab the microphone with cylindrical handle, then pass it to the right arm, avoiding the medium-sized golden prize cup.",
+    "Grab the handheld microphone with the left arm, hand it to the right arm, avoiding the prize trophy with sturdy round base by 0.10m.",
+    "With the left arm, grab the handheld microphone, pass to the right arm, keeping the handheld microphone 0.10m from the smooth trophy with wide base.",
+    "Use the left arm to grab the compact microphone with two parts, pass to the right arm, keep the compact microphone with two parts 0.10m from the medium-sized golden prize cup.",
+    "Pick up the microphone with cylindrical handle, avoid the smooth trophy with wide base by 0.10m, pass the microphone with cylindrical handle from the left arm to the right arm.",
+    "Grab the handheld microphone with the left arm, keep 0.10m from the prize trophy with sturdy round base, hand to the right arm.",
+    "Use the left arm to grab the microphone with cylindrical handle, then pass it to the right arm, avoiding the medium-sized golden prize cup.",
+    "Grab the handheld microphone with the left arm, hand it to the right arm, avoiding the prize trophy with sturdy round base by 0.10m.",
+    "With the left arm, grab the compact microphone with two parts, pass to the right arm, keeping the compact microphone with two parts 0.10m from the prize trophy with sturdy round base.",
+    "Use the left arm to grab the microphone with cylindrical handle, pass to the right arm, keep the microphone with cylindrical handle 0.10m from the smooth trophy with wide base.",
+    "Pick up the microphone with cylindrical handle, avoid the smooth trophy with wide base by 0.10m, pass the microphone with cylindrical handle from the left arm to the right arm.",
+    "Grab the compact microphone with two parts with the left arm, keep 0.10m from the medium-sized golden prize cup, hand to the right arm.",
+    "Use the left arm to grab the handheld microphone, then pass it to the right arm, avoiding the smooth trophy with wide base.",
+    "Grab the handheld microphone with the left arm, hand it to the right arm, avoiding the prize trophy with sturdy round base by 0.10m.",
+    "With the left arm, grab the compact microphone with two parts, pass to the right arm, keeping the compact microphone with two parts 0.10m from the prize trophy with sturdy round base.",
+    "Use the left arm to grab the microphone with cylindrical handle, pass to the right arm, keep the microphone with cylindrical handle 0.10m from the prize trophy with sturdy round base.",
+    "Pick up the handheld microphone, avoid the medium-sized golden prize cup by 0.10m, pass the handheld microphone from the left arm to the right arm.",
+    "Grab the microphone with cylindrical handle with the left arm, keep 0.10m from the prize trophy with sturdy round base, hand to the right arm.",
+    "Use the left arm to grab the handheld microphone, then pass it to the right arm, avoiding the medium-sized golden prize cup.",
+    "Grab the handheld microphone with the left arm, hand it to the right arm, avoiding the prize trophy with sturdy round base by 0.10m.",
+    "With the left arm, grab the handheld microphone, pass to the right arm, keeping the handheld microphone 0.10m from the prize trophy with sturdy round base.",
+    "Use the left arm to grab the handheld microphone, pass to the right arm, keep the handheld microphone 0.10m from the smooth trophy with wide base.",
+    "Pick up the handheld microphone, avoid the prize trophy with sturdy round base by 0.10m, pass the handheld microphone from the left arm to the right arm.",
+    "Grab the microphone with cylindrical handle with the left arm, keep 0.10m from the medium-sized golden prize cup, hand to the right arm.",
+    "Use the left arm to grab the microphone with cylindrical handle, then pass it to the right arm, avoiding the smooth trophy with wide base.",
+    "Grab the compact microphone with two parts with the left arm, hand it to the right arm, avoiding the prize trophy with sturdy round base by 0.10m.",
+    "With the left arm, grab the compact microphone with two parts, pass to the right arm, keeping the compact microphone with two parts 0.10m from the medium-sized golden prize cup.",
+    "Use the left arm to grab the compact microphone with two parts, pass to the right arm, keep the compact microphone with two parts 0.10m from the medium-sized golden prize cup.",
+    "Pick up the compact microphone with two parts, avoid the medium-sized golden prize cup by 0.10m, pass the compact microphone with two parts from the left arm to the right arm.",
+    "Grab the handheld microphone with the left arm, keep 0.10m from the medium-sized golden prize cup, hand to the right arm.",
+    "Use the left arm to grab the microphone with cylindrical handle, then pass it to the right arm, avoiding the smooth trophy with wide base.",
+    "Grab the microphone with cylindrical handle with the left arm, hand it to the right arm, avoiding the medium-sized golden prize cup by 0.10m.",
+    "With the left arm, grab the compact microphone with two parts, pass to the right arm, keeping the compact microphone with two parts 0.10m from the medium-sized golden prize cup.",
+    "Use the left arm to grab the compact microphone with two parts, pass to the right arm, keep the compact microphone with two parts 0.10m from the medium-sized golden prize cup.",
+    "Pick up the compact microphone with two parts, avoid the prize trophy with sturdy round base by 0.10m, pass the compact microphone with two parts from the left arm to the right arm.",
+    "Grab the compact microphone with two parts with the left arm, keep 0.10m from the smooth trophy with wide base, hand to the right arm.",
+    "Use the left arm to grab the microphone with cylindrical handle, then pass it to the right arm, avoiding the smooth trophy with wide base.",
+    "Grab the compact microphone with two parts with the left arm, hand it to the right arm, avoiding the medium-sized golden prize cup by 0.10m.",
+    "With the left arm, grab the compact microphone with two parts, pass to the right arm, keeping the compact microphone with two parts 0.10m from the prize trophy with sturdy round base.",
+    "Use the left arm to grab the handheld microphone, pass to the right arm, keep the handheld microphone 0.10m from the medium-sized golden prize cup.",
+    "Pick up the compact microphone with two parts, avoid the prize trophy with sturdy round base by 0.10m, pass the compact microphone with two parts from the left arm to the right arm.",
+    "Grab the compact microphone with two parts with the left arm, keep 0.10m from the smooth trophy with wide base, hand to the right arm.",
+    "Use the left arm to grab the microphone with cylindrical handle, then pass it to the right arm, avoiding the smooth trophy with wide base.",
+    "Grab the microphone with cylindrical handle with the left arm, hand it to the right arm, avoiding the smooth trophy with wide base by 0.10m.",
+    "With the left arm, grab the compact microphone with two parts, pass to the right arm, keeping the compact microphone with two parts 0.10m from the medium-sized golden prize cup.",
+    "Use the left arm to grab the handheld microphone, pass to the right arm, keep the handheld microphone 0.10m from the prize trophy with sturdy round base.",
+    "Pick up the compact microphone with two parts, avoid the prize trophy with sturdy round base by 0.10m, pass the compact microphone with two parts from the left arm to the right arm.",
+    "Grab the compact microphone with two parts with the left arm, keep 0.10m from the prize trophy with sturdy round base, hand to the right arm.",
+    "Use the left arm to grab the compact microphone with two parts, then pass it to the right arm, avoiding the medium-sized golden prize cup.",
+    "Grab the microphone with cylindrical handle with the left arm, hand it to the right arm, avoiding the prize trophy with sturdy round base by 0.10m.",
+    "With the left arm, grab the microphone with cylindrical handle, pass to the right arm, keeping the microphone with cylindrical handle 0.10m from the prize trophy with sturdy round base.",
+    "Use the left arm to grab the microphone with cylindrical handle, pass to the right arm, keep the microphone with cylindrical handle 0.10m from the medium-sized golden prize cup.",
+    "Pick up the microphone with cylindrical handle, avoid the prize trophy with sturdy round base by 0.10m, pass the microphone with cylindrical handle from the left arm to the right arm.",
+    "Grab the compact microphone with two parts with the left arm, keep 0.10m from the smooth trophy with wide base, hand to the right arm.",
+    "Use the left arm to grab the handheld microphone, then pass it to the right arm, avoiding the prize trophy with sturdy round base.",
+    "Grab the handheld microphone with the left arm, hand it to the right arm, avoiding the smooth trophy with wide base by 0.10m.",
+    "With the left arm, grab the compact microphone with two parts, pass to the right arm, keeping the compact microphone with two parts 0.10m from the prize trophy with sturdy round base.",
+    "Use the left arm to grab the handheld microphone, pass to the right arm, keep the handheld microphone 0.10m from the medium-sized golden prize cup.",
+    "Pick up the microphone with cylindrical handle, avoid the medium-sized golden prize cup by 0.10m, pass the microphone with cylindrical handle from the left arm to the right arm.",
+    "Grab the microphone with cylindrical handle with the left arm, keep 0.10m from the prize trophy with sturdy round base, hand to the right arm.",
+    "Use the left arm to grab the handheld microphone, then pass it to the right arm, avoiding the smooth trophy with wide base.",
+    "Grab the handheld microphone with the left arm, hand it to the right arm, avoiding the prize trophy with sturdy round base by 0.10m.",
+    "With the left arm, grab the microphone with cylindrical handle, pass to the right arm, keeping the microphone with cylindrical handle 0.10m from the prize trophy with sturdy round base.",
+    "Use the left arm to grab the microphone with cylindrical handle, pass to the right arm, keep the microphone with cylindrical handle 0.10m from the prize trophy with sturdy round base.",
+    "Pick up the handheld microphone, avoid the medium-sized golden prize cup by 0.10m, pass the handheld microphone from the left arm to the right arm.",
+    "Grab the compact microphone with two parts with the left arm, keep 0.10m from the prize trophy with sturdy round base, hand to the right arm.",
+    "Use the left arm to grab the microphone with cylindrical handle, then pass it to the right arm, avoiding the smooth trophy with wide base.",
+    "Grab the microphone with cylindrical handle with the left arm, hand it to the right arm, avoiding the medium-sized golden prize cup by 0.10m.",
+    "With the left arm, grab the microphone with cylindrical handle, pass to the right arm, keeping the microphone with cylindrical handle 0.10m from the smooth trophy with wide base.",
+    "Use the left arm to grab the handheld microphone, pass to the right arm, keep the handheld microphone 0.10m from the medium-sized golden prize cup.",
+    "Pick up the compact microphone with two parts, avoid the medium-sized golden prize cup by 0.10m, pass the compact microphone with two parts from the left arm to the right arm.",
+    "Grab the handheld microphone with the left arm, keep 0.10m from the prize trophy with sturdy round base, hand to the right arm.",
+    "Use the left arm to grab the compact microphone with two parts, then pass it to the right arm, avoiding the prize trophy with sturdy round base.",
+    "Grab the handheld microphone with the left arm, hand it to the right arm, avoiding the prize trophy with sturdy round base by 0.10m.",
+    "With the left arm, grab the handheld microphone, pass to the right arm, keeping the handheld microphone 0.10m from the medium-sized golden prize cup.",
+    "Use the left arm to grab the handheld microphone, pass to the right arm, keep the handheld microphone 0.10m from the medium-sized golden prize cup.",
+    "Pick up the microphone with cylindrical handle, avoid the medium-sized golden prize cup by 0.10m, pass the microphone with cylindrical handle from the left arm to the right arm."
+  ]
+}
\ No newline at end of file
diff --git a/handover_mic_wp1/handover_mic_wp1/instructions/episode12.json b/handover_mic_wp1/handover_mic_wp1/instructions/episode12.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c3481b1a7dc0fcab8e44930fb7dd3e7031f52f4
--- /dev/null
+++ b/handover_mic_wp1/handover_mic_wp1/instructions/episode12.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Have the left arm grasp the microphone with cylindrical handle, avoid the shiny trophy with top knob by 0.10m, and transfer the microphone with cylindrical handle to the right arm.",
+    "Grab the black and white microphone, carry it around the trophy with dangling ribbons with 0.10m clearance, then hand over.",
+    "Lift the black and white microphone with the left arm, give the black and white microphone to the right arm, keep clear of the medium-sized golden trophy 0.10m.",
+    "Get the microphone with textured metal head with the left arm, shift the microphone with textured metal head to the right arm, maintaining 0.10m from the shiny trophy with top knob.",
+    "With the left arm, take the microphone with textured metal head, keep distance from the cup-shaped trophy with handles, and give the microphone with textured metal head to the right arm.",
+    "Take the metal head microphone using the left arm, keep away from the medium-sized golden trophy, and pass to the right arm.",
+    "With the left arm, grasp the metal head microphone, then hand the metal head microphone to the right arm, avoiding the black bottom trophy with smooth finish.",
+    "Pick up the mesh-patterned microphone head using the left arm, transfer to the right arm, keep 0.10m from the trophy cup with curved sides.",
+    "Have the left arm take the white microphone handle black accents, then the right arm takes the white microphone handle black accents, keep 0.10m from the gold trophy.",
+    "Using the left arm, grab the microphone with rounded mesh head, keep 0.10m from the medium trophy with gold and black colors, then give the microphone with rounded mesh head to the right arm.",
+    "Move the black and white microphone from the left arm to the right arm while keeping clear of the decorative trophy with curved handles.",
+    "Secure the white microphone handle black accents, route it at least 0.10m from the trophy with dangling ribbons, then hand it over.",
+    "Take the microphone for voice recording with the left arm, route it away from the shiny trophy with top knob, then hand it to the right arm.",
+    "Pick up the microphone for voice recording, move it staying 0.10m from the cup-shaped trophy with handles, then complete the handoff.",
+    "Take the black and white microphone with the left arm, hand over to the right arm, keep the black and white microphone 0.10m away from the medium-sized golden trophy.",
+    "Lift the handheld microphone, keep it 0.10m away from the cup-shaped trophy with handles, then pass it across.",
+    "Let the left arm grasp the microphone with black tip and white body, move it 0.10m from the shiny trophy with top knob, then the right arm receives.",
+    "Using the left arm, take the smooth plastic microphone handle and hand to the right arm, keeping 0.10m from the medium-sized golden trophy.",
+    "Pick up the microphone with black tip and white body with the left arm, transfer to the right arm, stay away from the trophy cup with curved sides.",
+    "Use the left arm to lift the microphone for voice recording, then give the microphone for voice recording to the right arm, avoiding the cup-shaped trophy with handles by 0.10m.",
+    "Have the left arm grasp the microphone with textured metal head, avoid the cup-shaped trophy with handles by 0.10m, and transfer the microphone with textured metal head to the right arm.",
+    "Grab the microphone for voice recording, carry it around the gold trophy on square black base with 0.10m clearance, then hand over.",
+    "Lift the microphone with cylindrical handle with the left arm, give the microphone with cylindrical handle to the right arm, keep clear of the shiny trophy with top knob 0.10m.",
+    "Get the metal head microphone with the left arm, shift the metal head microphone to the right arm, maintaining 0.10m from the shiny trophy with top knob.",
+    "With the left arm, take the microphone with textured metal head, keep distance from the shiny trophy with top knob, and give the microphone with textured metal head to the right arm.",
+    "Take the mesh-patterned microphone head using the left arm, keep away from the decorative trophy with curved handles, and pass to the right arm.",
+    "With the left arm, grasp the metal head microphone, then hand the metal head microphone to the right arm, avoiding the black bottom trophy with smooth finish.",
+    "Pick up the compact size microphone using the left arm, transfer to the right arm, keep 0.10m from the decorative trophy with curved handles.",
+    "Have the left arm take the compact size microphone, then the right arm takes the compact size microphone, keep 0.10m from the medium trophy with gold and black colors.",
+    "Using the left arm, grab the microphone with cylindrical handle, keep 0.10m from the trophy with dangling ribbons, then give the microphone with cylindrical handle to the right arm.",
+    "Move the compact size microphone from the left arm to the right arm while keeping clear of the shiny trophy with top knob.",
+    "Secure the microphone for voice recording, route it at least 0.10m from the medium-sized golden trophy, then hand it over.",
+    "Take the microphone with rounded mesh head with the left arm, route it away from the trophy cup with curved sides, then hand it to the right arm.",
+    "Pick up the handheld microphone, move it staying 0.10m from the medium trophy with gold and black colors, then complete the handoff.",
+    "Take the black and white microphone with the left arm, hand over to the right arm, keep the black and white microphone 0.10m away from the gold trophy.",
+    "Lift the smooth plastic microphone handle, keep it 0.10m away from the golden award trophy with black base, then pass it across.",
+    "Let the left arm grasp the microphone with cylindrical handle, move it 0.10m from the gold award cup with two handles, then the right arm receives.",
+    "Using the left arm, take the handheld microphone and hand to the right arm, keeping 0.10m from the cup-shaped trophy with handles.",
+    "Pick up the handheld microphone with the left arm, transfer to the right arm, stay away from the trophy with dangling ribbons.",
+    "Use the left arm to lift the white microphone handle black accents, then give the white microphone handle black accents to the right arm, avoiding the black bottom trophy with smooth finish by 0.10m.",
+    "Have the left arm grasp the black and white microphone, avoid the black bottom trophy with smooth finish by 0.10m, and transfer the black and white microphone to the right arm.",
+    "Grab the microphone with black tip and white body, carry it around the gold trophy with 0.10m clearance, then hand over.",
+    "Lift the microphone with black tip and white body with the left arm, give the microphone with black tip and white body to the right arm, keep clear of the black bottom trophy with smooth finish 0.10m.",
+    "Get the handheld microphone with the left arm, shift the handheld microphone to the right arm, maintaining 0.10m from the medium-sized golden trophy.",
+    "With the left arm, take the microphone with cylindrical handle, keep distance from the trophy cup with curved sides, and give the microphone with cylindrical handle to the right arm.",
+    "Take the metal head microphone using the left arm, keep away from the medium trophy with gold and black colors, and pass to the right arm.",
+    "With the left arm, grasp the microphone with textured metal head, then hand the microphone with textured metal head to the right arm, avoiding the decorative trophy with curved handles.",
+    "Pick up the microphone with black tip and white body using the left arm, transfer to the right arm, keep 0.10m from the medium trophy with gold and black colors.",
+    "Have the left arm take the compact size microphone, then the right arm takes the compact size microphone, keep 0.10m from the shiny trophy with top knob.",
+    "Using the left arm, grab the mesh-patterned microphone head, keep 0.10m from the black bottom trophy with smooth finish, then give the mesh-patterned microphone head to the right arm.",
+    "Move the metal head microphone from the left arm to the right arm while keeping clear of the gold trophy on square black base.",
+    "Secure the compact size microphone, route it at least 0.10m from the shiny trophy with top knob, then hand it over.",
+    "Take the microphone with textured metal head with the left arm, route it away from the gold trophy, then hand it to the right arm.",
+    "Pick up the smooth plastic microphone handle, move it staying 0.10m from the gold trophy on square black base, then complete the handoff.",
+    "Take the microphone with black tip and white body with the left arm, hand over to the right arm, keep the microphone with black tip and white body 0.10m away from the gold trophy on square black base.",
+    "Lift the smooth plastic microphone handle, keep it 0.10m away from the gold trophy, then pass it across.",
+    "Let the left arm grasp the black and white microphone, move it 0.10m from the gold award cup with two handles, then the right arm receives.",
+    "Using the left arm, take the microphone for voice recording and hand to the right arm, keeping 0.10m from the cup-shaped trophy with handles.",
+    "Pick up the microphone with cylindrical handle with the left arm, transfer to the right arm, stay away from the cup-shaped trophy with handles.",
+    "Use the left arm to lift the microphone with rounded mesh head, then give the microphone with rounded mesh head to the right arm, avoiding the medium-sized golden trophy by 0.10m.",
+    "Have the left arm grasp the microphone with textured metal head, avoid the golden award trophy with black base by 0.10m, and transfer the microphone with textured metal head to the right arm.",
+    "Grab the mesh-patterned microphone head, carry it around the cup-shaped trophy with handles with 0.10m clearance, then hand over.",
+    "Lift the white microphone handle black accents with the left arm, give the white microphone handle black accents to the right arm, keep clear of the cup-shaped trophy with handles 0.10m.",
+    "Get the microphone with black tip and white body with the left arm, shift the microphone with black tip and white body to the right arm, maintaining 0.10m from the gold trophy.",
+    "With the left arm, take the microphone with cylindrical handle, keep distance from the gold award cup with two handles, and give the microphone with cylindrical handle to the right arm.",
+    "Take the mesh-patterned microphone head using the left arm, keep away from the golden award trophy with black base, and pass to the right arm.",
+    "With the left arm, grasp the mesh-patterned microphone head, then hand the mesh-patterned microphone head to the right arm, avoiding the golden award trophy with black base.",
+    "Pick up the microphone for voice recording using the left arm, transfer to the right arm, keep 0.10m from the decorative trophy with curved handles.",
+    "Have the left arm take the black and white microphone, then the right arm takes the black and white microphone, keep 0.10m from the gold award cup with two handles.",
+    "Using the left arm, grab the black and white microphone, keep 0.10m from the gold trophy, then give the black and white microphone to the right arm.",
+    "Move the microphone with rounded mesh head from the left arm to the right arm while keeping clear of the gold trophy on square black base.",
+    "Secure the microphone with textured metal head, route it at least 0.10m from the trophy with dangling ribbons, then hand it over.",
+    "Take the metal head microphone with the left arm, route it away from the trophy cup with curved sides, then hand it to the right arm.",
+    "Pick up the smooth plastic microphone handle, move it staying 0.10m from the golden award trophy with black base, then complete the handoff.",
+    "Take the handheld microphone with the left arm, hand over to the right arm, keep the handheld microphone 0.10m away from the gold award cup with two handles.",
+    "Lift the microphone with rounded mesh head, keep it 0.10m away from the decorative trophy with curved handles, then pass it across.",
+    "Let the left arm grasp the microphone for voice recording, move it 0.10m from the medium trophy with gold and black colors, then the right arm receives.",
+    "Using the left arm, take the mesh-patterned microphone head and hand to the right arm, keeping 0.10m from the trophy with dangling ribbons.",
+    "Pick up the smooth plastic microphone handle with the left arm, transfer to the right arm, stay away from the medium-sized golden trophy.",
+    "Use the left arm to lift the microphone with black tip and white body, then give the microphone with black tip and white body to the right arm, avoiding the trophy cup with curved sides by 0.10m.",
+    "Have the left arm grasp the microphone with black tip and white body, avoid the golden award trophy with black base by 0.10m, and transfer the microphone with black tip and white body to the right arm.",
+    "Grab the microphone with black tip and white body, carry it around the golden award trophy with black base with 0.10m clearance, then hand over.",
+    "Lift the smooth plastic microphone handle with the left arm, give the smooth plastic microphone handle to the right arm, keep clear of the trophy cup with curved sides 0.10m.",
+    "Get the handheld microphone with the left arm, shift the handheld microphone to the right arm, maintaining 0.10m from the cup-shaped trophy with handles.",
+    "With the left arm, take the white microphone handle black accents, keep distance from the golden award trophy with black base, and give the white microphone handle black accents to the right arm.",
+    "Take the mesh-patterned microphone head using the left arm, keep away from the medium trophy with gold and black colors, and pass to the right arm.",
+    "With the left arm, grasp the compact size microphone, then hand the compact size microphone to the right arm, avoiding the gold trophy.",
+    "Pick up the microphone for voice recording using the left arm, transfer to the right arm, keep 0.10m from the gold trophy.",
+    "Have the left arm take the microphone for voice recording, then the right arm takes the microphone for voice recording, keep 0.10m from the trophy cup with curved sides.",
+    "Using the left arm, grab the metal head microphone, keep 0.10m from the golden award trophy with black base, then give the metal head microphone to the right arm.",
+    "Move the smooth plastic microphone handle from the left arm to the right arm while keeping clear of the medium-sized golden trophy.",
+    "Secure the black and white microphone, route it at least 0.10m from the gold award cup with two handles, then hand it over.",
+    "Take the microphone with cylindrical handle with the left arm, route it away from the cup-shaped trophy with handles, then hand it to the right arm.",
+    "Pick up the microphone with textured metal head, move it staying 0.10m from the golden award trophy with black base, then complete the handoff.",
+    "Take the microphone with black tip and white body with the left arm, hand over to the right arm, keep the microphone with black tip and white body 0.10m away from the golden award trophy with black base.",
+    "Lift the microphone with textured metal head, keep it 0.10m away from the decorative trophy with curved handles, then pass it across.",
+    "Let the left arm grasp the handheld microphone, move it 0.10m from the gold trophy on square black base, then the right arm receives.",
+    "Using the left arm, take the metal head microphone and hand to the right arm, keeping 0.10m from the shiny trophy with top knob.",
+    "Pick up the microphone with textured metal head with the left arm, transfer to the right arm, stay away from the golden award trophy with black base.",
+    "Use the left arm to lift the microphone with black tip and white body, then give the microphone with black tip and white body to the right arm, avoiding the gold award cup with two handles by 0.10m."
+  ],
+  "unseen": [
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the shiny trophy cup by 0.10m.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the smooth golden trophy.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the trophy with red and blue ribbons.",
+    "Pick up the microphone used for audio input, avoid the trophy with red and blue ribbons by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the shiny trophy cup.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the smooth golden trophy, hand to the right arm.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the smooth golden trophy by 0.10m.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the smooth golden trophy.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the trophy with red and blue ribbons.",
+    "Pick up the black and white plastic microphone, avoid the trophy with red and blue ribbons by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the trophy with red and blue ribbons.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the trophy with red and blue ribbons, hand to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the shiny trophy cup by 0.10m.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the shiny trophy cup.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the smooth golden trophy.",
+    "Pick up the microphone used for audio input, avoid the smooth golden trophy by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the shiny trophy cup.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the trophy with red and blue ribbons, hand to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the trophy with red and blue ribbons.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the trophy with red and blue ribbons.",
+    "Pick up the microphone used for audio input, avoid the trophy with red and blue ribbons by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the trophy with red and blue ribbons.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the smooth golden trophy, hand to the right arm.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the shiny trophy cup by 0.10m.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the shiny trophy cup.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the shiny trophy cup.",
+    "Pick up the microphone used for audio input, avoid the smooth golden trophy by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the trophy with red and blue ribbons.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the shiny trophy cup, hand to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the smooth golden trophy by 0.10m.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the shiny trophy cup.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the shiny trophy cup.",
+    "Pick up the microphone used for audio input, avoid the trophy with red and blue ribbons by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the trophy with red and blue ribbons.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the trophy with red and blue ribbons, hand to the right arm.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the shiny trophy cup by 0.10m.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the shiny trophy cup.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the shiny trophy cup.",
+    "Pick up the lightweight handheld microphone, avoid the trophy with red and blue ribbons by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the shiny trophy cup.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the smooth golden trophy, hand to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the shiny trophy cup by 0.10m.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the shiny trophy cup.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the smooth golden trophy.",
+    "Pick up the black and white plastic microphone, avoid the smooth golden trophy by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the shiny trophy cup.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the smooth golden trophy, hand to the right arm.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the shiny trophy cup by 0.10m.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the shiny trophy cup.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the trophy with red and blue ribbons.",
+    "Pick up the lightweight handheld microphone, avoid the smooth golden trophy by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the shiny trophy cup.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the smooth golden trophy, hand to the right arm.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the smooth golden trophy.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the shiny trophy cup.",
+    "Pick up the microphone used for audio input, avoid the shiny trophy cup by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the shiny trophy cup.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the trophy with red and blue ribbons, hand to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the shiny trophy cup by 0.10m.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the smooth golden trophy.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the shiny trophy cup.",
+    "Pick up the lightweight handheld microphone, avoid the smooth golden trophy by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the trophy with red and blue ribbons.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the trophy with red and blue ribbons, hand to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the smooth golden trophy by 0.10m.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the trophy with red and blue ribbons.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the trophy with red and blue ribbons.",
+    "Pick up the microphone used for audio input, avoid the smooth golden trophy by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the shiny trophy cup.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the smooth golden trophy, hand to the right arm.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the shiny trophy cup.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the smooth golden trophy.",
+    "Pick up the black and white plastic microphone, avoid the trophy with red and blue ribbons by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the trophy with red and blue ribbons.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the trophy with red and blue ribbons, hand to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the trophy with red and blue ribbons.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the smooth golden trophy.",
+    "Pick up the lightweight handheld microphone, avoid the trophy with red and blue ribbons by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the smooth golden trophy.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the smooth golden trophy, hand to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the smooth golden trophy.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the smooth golden trophy.",
+    "Pick up the black and white plastic microphone, avoid the smooth golden trophy by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the trophy with red and blue ribbons.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the shiny trophy cup, hand to the right arm.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the shiny trophy cup by 0.10m.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the shiny trophy cup.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the smooth golden trophy.",
+    "Pick up the black and white plastic microphone, avoid the trophy with red and blue ribbons by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the trophy with red and blue ribbons.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the shiny trophy cup, hand to the right arm.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the shiny trophy cup by 0.10m.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the shiny trophy cup.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the shiny trophy cup.",
+    "Pick up the microphone used for audio input, avoid the shiny trophy cup by 0.10m, pass the microphone used for audio input from the left arm to the right arm."
+  ]
+}
\ No newline at end of file
diff --git a/handover_mic_wp1/handover_mic_wp1/instructions/episode13.json b/handover_mic_wp1/handover_mic_wp1/instructions/episode13.json
new file mode 100644
index 0000000000000000000000000000000000000000..58e1a6b3c6ea7fd6b494b275068fd102b9a2a13b
--- /dev/null
+++ b/handover_mic_wp1/handover_mic_wp1/instructions/episode13.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Move the rounded white tip microphone from the right arm to the left arm while keeping clear of the tall award trophy with glossy surface.",
+    "With the right arm, take the handheld teal microphone, keep distance from the trophy with sleek golden finish, and give the handheld teal microphone to the left arm.",
+    "Use the right arm to lift the rounded white tip microphone, then give the rounded white tip microphone to the left arm, avoiding the golden yellow cup-shaped prize trophy by 0.10m.",
+    "Secure the microphone with white rounded head, route it at least 0.10m from the shiny yellow trophy, then hand it over.",
+    "Take the white and teal sound microphone with the right arm, hand over to the left arm, keep the white and teal sound microphone 0.10m away from the achievement cup with curved side handles.",
+    "Get the textured white microphone head with the right arm, shift the textured white microphone head to the left arm, maintaining 0.10m from the golden yellow cup-shaped prize trophy.",
+    "Take the textured white microphone head using the right arm, keep away from the tall award trophy with glossy surface, and pass to the left arm.",
+    "Using the right arm, take the long microphone with smooth teal grip and hand to the left arm, keeping 0.10m from the shiny yellow trophy.",
+    "Pick up the long microphone with smooth teal grip, move it staying 0.10m from the tall award trophy with glossy surface, then complete the handoff.",
+    "Grab the white bottom microphone with textured tip, carry it around the tall yellow trophy with small neck with 0.10m clearance, then hand over.",
+    "Take the sound microphone with teal body with the right arm, route it away from the golden trophy, then hand it to the left arm.",
+    "Have the right arm grasp the plastic teal microphone with slider, avoid the golden yellow cup-shaped prize trophy by 0.10m, and transfer the plastic teal microphone with slider to the left arm.",
+    "Pick up the microphone with white rounded head with the right arm, transfer to the left arm, stay away from the metallic yellow cup-shaped trophy.",
+    "Lift the plastic teal microphone with slider, keep it 0.10m away from the metallic yellow cup-shaped trophy, then pass it across.",
+    "With the right arm, grasp the compact teal and white microphone, then hand the compact teal and white microphone to the left arm, avoiding the shiny yellow trophy.",
+    "Have the right arm take the teal microphone, then the left arm takes the teal microphone, keep 0.10m from the award trophy with two handles.",
+    "Pick up the white bottom microphone with textured tip using the right arm, transfer to the left arm, keep 0.10m from the golden trophy.",
+    "Let the right arm grasp the teal microphone, move it 0.10m from the award trophy with two handles, then the left arm receives.",
+    "Using the right arm, grab the rounded white tip microphone, keep 0.10m from the golden yellow cup-shaped prize trophy, then give the rounded white tip microphone to the left arm.",
+    "Lift the white bottom microphone with textured tip with the right arm, give the white bottom microphone with textured tip to the left arm, keep clear of the tall yellow trophy with small neck 0.10m.",
+    "Move the plastic teal microphone with slider from the right arm to the left arm while keeping clear of the tall award trophy with glossy surface.",
+    "With the right arm, take the handheld teal microphone, keep distance from the trophy with sleek golden finish, and give the handheld teal microphone to the left arm.",
+    "Use the right arm to lift the white bottom microphone with textured tip, then give the white bottom microphone with textured tip to the left arm, avoiding the metallic yellow cup-shaped trophy by 0.10m.",
+    "Secure the compact teal and white microphone, route it at least 0.10m from the tall award trophy with glossy surface, then hand it over.",
+    "Take the long microphone with smooth teal grip with the right arm, hand over to the left arm, keep the long microphone with smooth teal grip 0.10m away from the shiny trophy for winning competitions.",
+    "Get the rounded white tip microphone with the right arm, shift the rounded white tip microphone to the left arm, maintaining 0.10m from the trophy with sleek golden finish.",
+    "Take the white bottom microphone with textured tip using the right arm, keep away from the tall yellow trophy with small neck, and pass to the left arm.",
+    "Using the right arm, take the white bottom microphone with textured tip and hand to the left arm, keeping 0.10m from the metallic yellow cup-shaped trophy.",
+    "Pick up the teal microphone, move it staying 0.10m from the metallic yellow cup-shaped trophy, then complete the handoff.",
+    "Grab the textured white microphone head, carry it around the golden yellow cup-shaped prize trophy with 0.10m clearance, then hand over.",
+    "Take the handheld teal microphone with the right arm, route it away from the golden trophy, then hand it to the left arm.",
+    "Have the right arm grasp the handheld teal microphone, avoid the golden cup with curved handles by 0.10m, and transfer the handheld teal microphone to the left arm.",
+    "Pick up the sound microphone with teal body with the right arm, transfer to the left arm, stay away from the golden yellow cup-shaped prize trophy.",
+    "Lift the microphone with slider switch, keep it 0.10m away from the golden trophy, then pass it across.",
+    "With the right arm, grasp the microphone with white rounded head, then hand the microphone with white rounded head to the left arm, avoiding the tall yellow trophy with small neck.",
+    "Have the right arm take the teal microphone, then the left arm takes the teal microphone, keep 0.10m from the golden trophy.",
+    "Pick up the long microphone with smooth teal grip using the right arm, transfer to the left arm, keep 0.10m from the golden trophy.",
+    "Let the right arm grasp the textured white microphone head, move it 0.10m from the golden trophy, then the left arm receives.",
+    "Using the right arm, grab the microphone with white rounded head, keep 0.10m from the golden cup with curved handles, then give the microphone with white rounded head to the left arm.",
+    "Lift the teal microphone with the right arm, give the teal microphone to the left arm, keep clear of the golden yellow cup-shaped prize trophy 0.10m.",
+    "Move the rounded white tip microphone from the right arm to the left arm while keeping clear of the trophy with sleek golden finish.",
+    "With the right arm, take the handheld teal microphone, keep distance from the golden trophy, and give the handheld teal microphone to the left arm.",
+    "Use the right arm to lift the handheld teal microphone, then give the handheld teal microphone to the left arm, avoiding the trophy with sleek golden finish by 0.10m.",
+    "Secure the textured white microphone head, route it at least 0.10m from the achievement cup with curved side handles, then hand it over.",
+    "Take the compact teal and white microphone with the right arm, hand over to the left arm, keep the compact teal and white microphone 0.10m away from the tall yellow trophy with small neck.",
+    "Get the rounded white tip microphone with the right arm, shift the rounded white tip microphone to the left arm, maintaining 0.10m from the golden trophy.",
+    "Take the white bottom microphone with textured tip using the right arm, keep away from the shiny trophy for winning competitions, and pass to the left arm.",
+    "Using the right arm, take the compact teal and white microphone and hand to the left arm, keeping 0.10m from the smooth metallic cup with flat bottom.",
+    "Pick up the textured white microphone head, move it staying 0.10m from the tall award trophy with glossy surface, then complete the handoff.",
+    "Grab the textured white microphone head, carry it around the achievement cup with curved side handles with 0.10m clearance, then hand over.",
+    "Take the white bottom microphone with textured tip with the right arm, route it away from the golden trophy, then hand it to the left arm.",
+    "Have the right arm grasp the textured white microphone head, avoid the tall award trophy with glossy surface by 0.10m, and transfer the textured white microphone head to the left arm.",
+    "Pick up the white and teal sound microphone with the right arm, transfer to the left arm, stay away from the golden cup with curved handles.",
+    "Lift the teal microphone, keep it 0.10m away from the golden trophy, then pass it across.",
+    "With the right arm, grasp the compact teal and white microphone, then hand the compact teal and white microphone to the left arm, avoiding the trophy with sleek golden finish.",
+    "Have the right arm take the long microphone with smooth teal grip, then the left arm takes the long microphone with smooth teal grip, keep 0.10m from the metallic yellow cup-shaped trophy.",
+    "Pick up the white bottom microphone with textured tip using the right arm, transfer to the left arm, keep 0.10m from the shiny yellow trophy.",
+    "Let the right arm grasp the plastic teal microphone with slider, move it 0.10m from the tall award trophy with glossy surface, then the left arm receives.",
+    "Using the right arm, grab the textured white microphone head, keep 0.10m from the shiny yellow trophy, then give the textured white microphone head to the left arm.",
+    "Lift the plastic teal microphone with slider with the right arm, give the plastic teal microphone with slider to the left arm, keep clear of the shiny trophy for winning competitions 0.10m.",
+    "Move the plastic teal microphone with slider from the right arm to the left arm while keeping clear of the award trophy with two handles.",
+    "With the right arm, take the long microphone with smooth teal grip, keep distance from the tall yellow trophy with small neck, and give the long microphone with smooth teal grip to the left arm.",
+    "Use the right arm to lift the microphone with slider switch, then give the microphone with slider switch to the left arm, avoiding the metallic yellow cup-shaped trophy by 0.10m.",
+    "Secure the microphone with white rounded head, route it at least 0.10m from the smooth metallic cup with flat bottom, then hand it over.",
+    "Take the long microphone with smooth teal grip with the right arm, hand over to the left arm, keep the long microphone with smooth teal grip 0.10m away from the golden trophy.",
+    "Get the white and teal sound microphone with the right arm, shift the white and teal sound microphone to the left arm, maintaining 0.10m from the smooth metallic cup with flat bottom.",
+    "Take the teal microphone using the right arm, keep away from the trophy with sleek golden finish, and pass to the left arm.",
+    "Using the right arm, take the sound microphone with teal body and hand to the left arm, keeping 0.10m from the tall yellow trophy with small neck.",
+    "Pick up the textured white microphone head, move it staying 0.10m from the award trophy with two handles, then complete the handoff.",
+    "Grab the white bottom microphone with textured tip, carry it around the tall award trophy with glossy surface with 0.10m clearance, then hand over.",
+    "Take the sound microphone with teal body with the right arm, route it away from the metallic yellow cup-shaped trophy, then hand it to the left arm.",
+    "Have the right arm grasp the handheld teal microphone, avoid the metallic yellow cup-shaped trophy by 0.10m, and transfer the handheld teal microphone to the left arm.",
+    "Pick up the sound microphone with teal body with the right arm, transfer to the left arm, stay away from the metallic yellow cup-shaped trophy.",
+    "Lift the handheld teal microphone, keep it 0.10m away from the achievement cup with curved side handles, then pass it across.",
+    "With the right arm, grasp the microphone with slider switch, then hand the microphone with slider switch to the left arm, avoiding the golden cup with curved handles.",
+    "Have the right arm take the compact teal and white microphone, then the left arm takes the compact teal and white microphone, keep 0.10m from the metallic yellow cup-shaped trophy.",
+    "Pick up the textured white microphone head using the right arm, transfer to the left arm, keep 0.10m from the achievement cup with curved side handles.",
+    "Let the right arm grasp the microphone with slider switch, move it 0.10m from the trophy with sleek golden finish, then the left arm receives.",
+    "Using the right arm, grab the textured white microphone head, keep 0.10m from the award trophy with two handles, then give the textured white microphone head to the left arm.",
+    "Lift the rounded white tip microphone with the right arm, give the rounded white tip microphone to the left arm, keep clear of the smooth metallic cup with flat bottom 0.10m.",
+    "Move the microphone with slider switch from the right arm to the left arm while keeping clear of the golden yellow cup-shaped prize trophy.",
+    "With the right arm, take the handheld teal microphone, keep distance from the award trophy with two handles, and give the handheld teal microphone to the left arm.",
+    "Use the right arm to lift the plastic teal microphone with slider, then give the plastic teal microphone with slider to the left arm, avoiding the trophy with sleek golden finish by 0.10m.",
+    "Secure the sound microphone with teal body, route it at least 0.10m from the golden yellow cup-shaped prize trophy, then hand it over.",
+    "Take the microphone with slider switch with the right arm, hand over to the left arm, keep the microphone with slider switch 0.10m away from the award trophy with two handles.",
+    "Get the microphone with white rounded head with the right arm, shift the microphone with white rounded head to the left arm, maintaining 0.10m from the golden trophy.",
+    "Take the microphone with white rounded head using the right arm, keep away from the trophy with sleek golden finish, and pass to the left arm.",
+    "Using the right arm, take the white and teal sound microphone and hand to the left arm, keeping 0.10m from the tall award trophy with glossy surface.",
+    "Pick up the teal microphone, move it staying 0.10m from the shiny yellow trophy, then complete the handoff.",
+    "Grab the plastic teal microphone with slider, carry it around the golden yellow cup-shaped prize trophy with 0.10m clearance, then hand over.",
+    "Take the long microphone with smooth teal grip with the right arm, route it away from the tall award trophy with glossy surface, then hand it to the left arm.",
+    "Have the right arm grasp the plastic teal microphone with slider, avoid the metallic yellow cup-shaped trophy by 0.10m, and transfer the plastic teal microphone with slider to the left arm.",
+    "Pick up the plastic teal microphone with slider with the right arm, transfer to the left arm, stay away from the smooth metallic cup with flat bottom.",
+    "Lift the plastic teal microphone with slider, keep it 0.10m away from the tall award trophy with glossy surface, then pass it across.",
+    "With the right arm, grasp the microphone with slider switch, then hand the microphone with slider switch to the left arm, avoiding the shiny trophy for winning competitions.",
+    "Have the right arm take the sound microphone with teal body, then the left arm takes the sound microphone with teal body, keep 0.10m from the golden cup with curved handles.",
+    "Pick up the long microphone with smooth teal grip using the right arm, transfer to the left arm, keep 0.10m from the achievement cup with curved side handles.",
+    "Let the right arm grasp the textured white microphone head, move it 0.10m from the tall award trophy with glossy surface, then the left arm receives.",
+    "Using the right arm, grab the sound microphone with teal body, keep 0.10m from the metallic yellow cup-shaped trophy, then give the sound microphone with teal body to the left arm.",
+    "Lift the white bottom microphone with textured tip with the right arm, give the white bottom microphone with textured tip to the left arm, keep clear of the tall yellow trophy with small neck 0.10m."
+  ],
+  "unseen": [
+    "Pick up the switchable microphone with teal body, avoid the smooth trophy with wide base by 0.10m, pass the switchable microphone with teal body from the right arm to the left arm.",
+    "Use the right arm to grab the switchable microphone with teal body, then pass it to the left arm, avoiding the medium-sized golden prize cup.",
+    "Use the right arm to grab the switchable microphone with teal body, pass to the left arm, keep the switchable microphone with teal body 0.10m from the smooth trophy with wide base.",
+    "Grab the long teal microphone with white grooves with the right arm, keep 0.10m from the medium-sized golden prize cup, hand to the left arm.",
+    "With the right arm, grab the long teal microphone with white grooves, pass to the left arm, keeping the long teal microphone with white grooves 0.10m from the medium-sized golden prize cup.",
+    "Grab the long teal microphone with white grooves with the right arm, hand it to the left arm, avoiding the medium-sized golden prize cup by 0.10m.",
+    "Pick up the long teal microphone with white grooves, avoid the smooth trophy with wide base by 0.10m, pass the long teal microphone with white grooves from the right arm to the left arm.",
+    "Use the right arm to grab the teal microphone with white bottom, then pass it to the left arm, avoiding the medium-sized golden prize cup.",
+    "Use the right arm to grab the long teal microphone with white grooves, pass to the left arm, keep the long teal microphone with white grooves 0.10m from the smooth trophy with wide base.",
+    "Grab the switchable microphone with teal body with the right arm, keep 0.10m from the medium-sized golden prize cup, hand to the left arm.",
+    "With the right arm, grab the switchable microphone with teal body, pass to the left arm, keeping the switchable microphone with teal body 0.10m from the prize trophy with sturdy round base.",
+    "Grab the long teal microphone with white grooves with the right arm, hand it to the left arm, avoiding the medium-sized golden prize cup by 0.10m.",
+    "Pick up the switchable microphone with teal body, avoid the smooth trophy with wide base by 0.10m, pass the switchable microphone with teal body from the right arm to the left arm.",
+    "Use the right arm to grab the teal microphone with white bottom, then pass it to the left arm, avoiding the prize trophy with sturdy round base.",
+    "Use the right arm to grab the switchable microphone with teal body, pass to the left arm, keep the switchable microphone with teal body 0.10m from the prize trophy with sturdy round base.",
+    "Grab the long teal microphone with white grooves with the right arm, keep 0.10m from the medium-sized golden prize cup, hand to the left arm.",
+    "With the right arm, grab the switchable microphone with teal body, pass to the left arm, keeping the switchable microphone with teal body 0.10m from the prize trophy with sturdy round base.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the smooth trophy with wide base by 0.10m.",
+    "Pick up the teal microphone with white bottom, avoid the smooth trophy with wide base by 0.10m, pass the teal microphone with white bottom from the right arm to the left arm.",
+    "Use the right arm to grab the switchable microphone with teal body, then pass it to the left arm, avoiding the smooth trophy with wide base.",
+    "Use the right arm to grab the long teal microphone with white grooves, pass to the left arm, keep the long teal microphone with white grooves 0.10m from the prize trophy with sturdy round base.",
+    "Grab the long teal microphone with white grooves with the right arm, keep 0.10m from the medium-sized golden prize cup, hand to the left arm.",
+    "With the right arm, grab the teal microphone with white bottom, pass to the left arm, keeping the teal microphone with white bottom 0.10m from the prize trophy with sturdy round base.",
+    "Grab the long teal microphone with white grooves with the right arm, hand it to the left arm, avoiding the medium-sized golden prize cup by 0.10m.",
+    "Pick up the switchable microphone with teal body, avoid the medium-sized golden prize cup by 0.10m, pass the switchable microphone with teal body from the right arm to the left arm.",
+    "Use the right arm to grab the long teal microphone with white grooves, then pass it to the left arm, avoiding the medium-sized golden prize cup.",
+    "Use the right arm to grab the switchable microphone with teal body, pass to the left arm, keep the switchable microphone with teal body 0.10m from the smooth trophy with wide base.",
+    "Grab the teal microphone with white bottom with the right arm, keep 0.10m from the smooth trophy with wide base, hand to the left arm.",
+    "With the right arm, grab the teal microphone with white bottom, pass to the left arm, keeping the teal microphone with white bottom 0.10m from the prize trophy with sturdy round base.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the smooth trophy with wide base by 0.10m.",
+    "Pick up the long teal microphone with white grooves, avoid the prize trophy with sturdy round base by 0.10m, pass the long teal microphone with white grooves from the right arm to the left arm.",
+    "Use the right arm to grab the long teal microphone with white grooves, then pass it to the left arm, avoiding the medium-sized golden prize cup.",
+    "Use the right arm to grab the teal microphone with white bottom, pass to the left arm, keep the teal microphone with white bottom 0.10m from the prize trophy with sturdy round base.",
+    "Grab the switchable microphone with teal body with the right arm, keep 0.10m from the prize trophy with sturdy round base, hand to the left arm.",
+    "With the right arm, grab the switchable microphone with teal body, pass to the left arm, keeping the switchable microphone with teal body 0.10m from the medium-sized golden prize cup.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the smooth trophy with wide base by 0.10m.",
+    "Pick up the teal microphone with white bottom, avoid the medium-sized golden prize cup by 0.10m, pass the teal microphone with white bottom from the right arm to the left arm.",
+    "Use the right arm to grab the teal microphone with white bottom, then pass it to the left arm, avoiding the smooth trophy with wide base.",
+    "Use the right arm to grab the long teal microphone with white grooves, pass to the left arm, keep the long teal microphone with white grooves 0.10m from the prize trophy with sturdy round base.",
+    "Grab the switchable microphone with teal body with the right arm, keep 0.10m from the medium-sized golden prize cup, hand to the left arm.",
+    "With the right arm, grab the switchable microphone with teal body, pass to the left arm, keeping the switchable microphone with teal body 0.10m from the medium-sized golden prize cup.",
+    "Grab the long teal microphone with white grooves with the right arm, hand it to the left arm, avoiding the prize trophy with sturdy round base by 0.10m.",
+    "Pick up the switchable microphone with teal body, avoid the smooth trophy with wide base by 0.10m, pass the switchable microphone with teal body from the right arm to the left arm.",
+    "Use the right arm to grab the teal microphone with white bottom, then pass it to the left arm, avoiding the medium-sized golden prize cup.",
+    "Use the right arm to grab the switchable microphone with teal body, pass to the left arm, keep the switchable microphone with teal body 0.10m from the medium-sized golden prize cup.",
+    "Grab the long teal microphone with white grooves with the right arm, keep 0.10m from the prize trophy with sturdy round base, hand to the left arm.",
+    "With the right arm, grab the teal microphone with white bottom, pass to the left arm, keeping the teal microphone with white bottom 0.10m from the medium-sized golden prize cup.",
+    "Grab the teal microphone with white bottom with the right arm, hand it to the left arm, avoiding the smooth trophy with wide base by 0.10m.",
+    "Pick up the teal microphone with white bottom, avoid the medium-sized golden prize cup by 0.10m, pass the teal microphone with white bottom from the right arm to the left arm.",
+    "Use the right arm to grab the teal microphone with white bottom, then pass it to the left arm, avoiding the prize trophy with sturdy round base.",
+    "Use the right arm to grab the switchable microphone with teal body, pass to the left arm, keep the switchable microphone with teal body 0.10m from the prize trophy with sturdy round base.",
+    "Grab the switchable microphone with teal body with the right arm, keep 0.10m from the prize trophy with sturdy round base, hand to the left arm.",
+    "With the right arm, grab the long teal microphone with white grooves, pass to the left arm, keeping the long teal microphone with white grooves 0.10m from the medium-sized golden prize cup.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the medium-sized golden prize cup by 0.10m.",
+    "Pick up the teal microphone with white bottom, avoid the smooth trophy with wide base by 0.10m, pass the teal microphone with white bottom from the right arm to the left arm.",
+    "Use the right arm to grab the teal microphone with white bottom, then pass it to the left arm, avoiding the smooth trophy with wide base.",
+    "Use the right arm to grab the long teal microphone with white grooves, pass to the left arm, keep the long teal microphone with white grooves 0.10m from the smooth trophy with wide base.",
+    "Grab the long teal microphone with white grooves with the right arm, keep 0.10m from the medium-sized golden prize cup, hand to the left arm.",
+    "With the right arm, grab the switchable microphone with teal body, pass to the left arm, keeping the switchable microphone with teal body 0.10m from the smooth trophy with wide base.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the smooth trophy with wide base by 0.10m.",
+    "Pick up the teal microphone with white bottom, avoid the prize trophy with sturdy round base by 0.10m, pass the teal microphone with white bottom from the right arm to the left arm.",
+    "Use the right arm to grab the long teal microphone with white grooves, then pass it to the left arm, avoiding the prize trophy with sturdy round base.",
+    "Use the right arm to grab the switchable microphone with teal body, pass to the left arm, keep the switchable microphone with teal body 0.10m from the smooth trophy with wide base.",
+    "Grab the teal microphone with white bottom with the right arm, keep 0.10m from the medium-sized golden prize cup, hand to the left arm.",
+    "With the right arm, grab the teal microphone with white bottom, pass to the left arm, keeping the teal microphone with white bottom 0.10m from the medium-sized golden prize cup.",
+    "Grab the long teal microphone with white grooves with the right arm, hand it to the left arm, avoiding the prize trophy with sturdy round base by 0.10m.",
+    "Pick up the long teal microphone with white grooves, avoid the medium-sized golden prize cup by 0.10m, pass the long teal microphone with white grooves from the right arm to the left arm.",
+    "Use the right arm to grab the teal microphone with white bottom, then pass it to the left arm, avoiding the medium-sized golden prize cup.",
+    "Use the right arm to grab the long teal microphone with white grooves, pass to the left arm, keep the long teal microphone with white grooves 0.10m from the medium-sized golden prize cup.",
+    "Grab the long teal microphone with white grooves with the right arm, keep 0.10m from the smooth trophy with wide base, hand to the left arm.",
+    "With the right arm, grab the teal microphone with white bottom, pass to the left arm, keeping the teal microphone with white bottom 0.10m from the prize trophy with sturdy round base.",
+    "Grab the teal microphone with white bottom with the right arm, hand it to the left arm, avoiding the medium-sized golden prize cup by 0.10m.",
+    "Pick up the teal microphone with white bottom, avoid the smooth trophy with wide base by 0.10m, pass the teal microphone with white bottom from the right arm to the left arm.",
+    "Use the right arm to grab the switchable microphone with teal body, then pass it to the left arm, avoiding the prize trophy with sturdy round base.",
+    "Use the right arm to grab the long teal microphone with white grooves, pass to the left arm, keep the long teal microphone with white grooves 0.10m from the smooth trophy with wide base.",
+    "Grab the switchable microphone with teal body with the right arm, keep 0.10m from the prize trophy with sturdy round base, hand to the left arm.",
+    "With the right arm, grab the teal microphone with white bottom, pass to the left arm, keeping the teal microphone with white bottom 0.10m from the medium-sized golden prize cup.",
+    "Grab the long teal microphone with white grooves with the right arm, hand it to the left arm, avoiding the smooth trophy with wide base by 0.10m.",
+    "Pick up the teal microphone with white bottom, avoid the prize trophy with sturdy round base by 0.10m, pass the teal microphone with white bottom from the right arm to the left arm.",
+    "Use the right arm to grab the long teal microphone with white grooves, then pass it to the left arm, avoiding the prize trophy with sturdy round base.",
+    "Use the right arm to grab the switchable microphone with teal body, pass to the left arm, keep the switchable microphone with teal body 0.10m from the smooth trophy with wide base.",
+    "Grab the long teal microphone with white grooves with the right arm, keep 0.10m from the prize trophy with sturdy round base, hand to the left arm.",
+    "With the right arm, grab the teal microphone with white bottom, pass to the left arm, keeping the teal microphone with white bottom 0.10m from the prize trophy with sturdy round base.",
+    "Grab the long teal microphone with white grooves with the right arm, hand it to the left arm, avoiding the medium-sized golden prize cup by 0.10m.",
+    "Pick up the long teal microphone with white grooves, avoid the prize trophy with sturdy round base by 0.10m, pass the long teal microphone with white grooves from the right arm to the left arm.",
+    "Use the right arm to grab the long teal microphone with white grooves, then pass it to the left arm, avoiding the prize trophy with sturdy round base.",
+    "Use the right arm to grab the long teal microphone with white grooves, pass to the left arm, keep the long teal microphone with white grooves 0.10m from the prize trophy with sturdy round base.",
+    "Grab the switchable microphone with teal body with the right arm, keep 0.10m from the prize trophy with sturdy round base, hand to the left arm.",
+    "With the right arm, grab the long teal microphone with white grooves, pass to the left arm, keeping the long teal microphone with white grooves 0.10m from the smooth trophy with wide base.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the smooth trophy with wide base by 0.10m.",
+    "Pick up the long teal microphone with white grooves, avoid the smooth trophy with wide base by 0.10m, pass the long teal microphone with white grooves from the right arm to the left arm.",
+    "Use the right arm to grab the switchable microphone with teal body, then pass it to the left arm, avoiding the medium-sized golden prize cup.",
+    "Use the right arm to grab the teal microphone with white bottom, pass to the left arm, keep the teal microphone with white bottom 0.10m from the prize trophy with sturdy round base.",
+    "Grab the long teal microphone with white grooves with the right arm, keep 0.10m from the medium-sized golden prize cup, hand to the left arm.",
+    "With the right arm, grab the long teal microphone with white grooves, pass to the left arm, keeping the long teal microphone with white grooves 0.10m from the smooth trophy with wide base.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the prize trophy with sturdy round base by 0.10m.",
+    "Pick up the switchable microphone with teal body, avoid the smooth trophy with wide base by 0.10m, pass the switchable microphone with teal body from the right arm to the left arm.",
+    "Use the right arm to grab the teal microphone with white bottom, then pass it to the left arm, avoiding the smooth trophy with wide base.",
+    "Use the right arm to grab the long teal microphone with white grooves, pass to the left arm, keep the long teal microphone with white grooves 0.10m from the smooth trophy with wide base.",
+    "Grab the long teal microphone with white grooves with the right arm, keep 0.10m from the smooth trophy with wide base, hand to the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/handover_mic_wp1/handover_mic_wp1/instructions/episode14.json b/handover_mic_wp1/handover_mic_wp1/instructions/episode14.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d5c237a39fba74c9116df027536c11eea0c551d
--- /dev/null
+++ b/handover_mic_wp1/handover_mic_wp1/instructions/episode14.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Have the right arm take the white and teal sound microphone, then the left arm takes the white and teal sound microphone, keep 0.10m from the cup-shaped trophy with handles.",
+    "Grab the rounded white tip microphone, carry it around the medium-sized golden trophy with 0.10m clearance, then hand over.",
+    "Take the white and teal sound microphone with the right arm, hand over to the left arm, keep the white and teal sound microphone 0.10m away from the trophy cup with curved sides.",
+    "Take the handheld teal microphone with the right arm, route it away from the medium trophy with gold and black colors, then hand it to the left arm.",
+    "Take the sound microphone with teal body using the right arm, keep away from the shiny trophy with top knob, and pass to the left arm.",
+    "Using the right arm, grab the white bottom microphone with textured tip, keep 0.10m from the gold trophy, then give the white bottom microphone with textured tip to the left arm.",
+    "Pick up the teal microphone with the right arm, transfer to the left arm, stay away from the golden award trophy with black base.",
+    "Pick up the microphone with white rounded head using the right arm, transfer to the left arm, keep 0.10m from the shiny trophy with top knob.",
+    "Get the handheld teal microphone with the right arm, shift the handheld teal microphone to the left arm, maintaining 0.10m from the gold award cup with two handles.",
+    "Use the right arm to lift the plastic teal microphone with slider, then give the plastic teal microphone with slider to the left arm, avoiding the golden award trophy with black base by 0.10m.",
+    "Lift the microphone with white rounded head with the right arm, give the microphone with white rounded head to the left arm, keep clear of the golden award trophy with black base 0.10m.",
+    "Using the right arm, take the long microphone with smooth teal grip and hand to the left arm, keeping 0.10m from the cup-shaped trophy with handles.",
+    "Secure the plastic teal microphone with slider, route it at least 0.10m from the medium-sized golden trophy, then hand it over.",
+    "Move the long microphone with smooth teal grip from the right arm to the left arm while keeping clear of the cup-shaped trophy with handles.",
+    "Let the right arm grasp the teal microphone, move it 0.10m from the gold trophy, then the left arm receives.",
+    "Pick up the microphone with white rounded head, move it staying 0.10m from the black bottom trophy with smooth finish, then complete the handoff.",
+    "Have the right arm grasp the white bottom microphone with textured tip, avoid the medium trophy with gold and black colors by 0.10m, and transfer the white bottom microphone with textured tip to the left arm.",
+    "With the right arm, take the microphone with slider switch, keep distance from the gold trophy on square black base, and give the microphone with slider switch to the left arm.",
+    "Lift the microphone with white rounded head, keep it 0.10m away from the medium-sized golden trophy, then pass it across.",
+    "With the right arm, grasp the teal microphone, then hand the teal microphone to the left arm, avoiding the golden award trophy with black base.",
+    "Have the right arm take the handheld teal microphone, then the left arm takes the handheld teal microphone, keep 0.10m from the cup-shaped trophy with handles.",
+    "Grab the microphone with slider switch, carry it around the gold trophy with 0.10m clearance, then hand over.",
+    "Take the long microphone with smooth teal grip with the right arm, hand over to the left arm, keep the long microphone with smooth teal grip 0.10m away from the trophy with dangling ribbons.",
+    "Take the textured white microphone head with the right arm, route it away from the gold trophy, then hand it to the left arm.",
+    "Take the teal microphone using the right arm, keep away from the gold trophy, and pass to the left arm.",
+    "Using the right arm, grab the compact teal and white microphone, keep 0.10m from the black bottom trophy with smooth finish, then give the compact teal and white microphone to the left arm.",
+    "Pick up the white and teal sound microphone with the right arm, transfer to the left arm, stay away from the cup-shaped trophy with handles.",
+    "Pick up the white bottom microphone with textured tip using the right arm, transfer to the left arm, keep 0.10m from the gold trophy.",
+    "Get the handheld teal microphone with the right arm, shift the handheld teal microphone to the left arm, maintaining 0.10m from the golden award trophy with black base.",
+    "Use the right arm to lift the handheld teal microphone, then give the handheld teal microphone to the left arm, avoiding the golden award trophy with black base by 0.10m.",
+    "Lift the long microphone with smooth teal grip with the right arm, give the long microphone with smooth teal grip to the left arm, keep clear of the gold award cup with two handles 0.10m.",
+    "Using the right arm, take the white and teal sound microphone and hand to the left arm, keeping 0.10m from the medium-sized golden trophy.",
+    "Secure the white bottom microphone with textured tip, route it at least 0.10m from the shiny trophy with top knob, then hand it over.",
+    "Move the plastic teal microphone with slider from the right arm to the left arm while keeping clear of the decorative trophy with curved handles.",
+    "Let the right arm grasp the rounded white tip microphone, move it 0.10m from the black bottom trophy with smooth finish, then the left arm receives.",
+    "Pick up the white bottom microphone with textured tip, move it staying 0.10m from the medium-sized golden trophy, then complete the handoff.",
+    "Have the right arm grasp the white and teal sound microphone, avoid the decorative trophy with curved handles by 0.10m, and transfer the white and teal sound microphone to the left arm.",
+    "With the right arm, take the rounded white tip microphone, keep distance from the gold award cup with two handles, and give the rounded white tip microphone to the left arm.",
+    "Lift the microphone with white rounded head, keep it 0.10m away from the shiny trophy with top knob, then pass it across.",
+    "With the right arm, grasp the microphone with slider switch, then hand the microphone with slider switch to the left arm, avoiding the golden award trophy with black base.",
+    "Have the right arm take the compact teal and white microphone, then the left arm takes the compact teal and white microphone, keep 0.10m from the medium-sized golden trophy.",
+    "Grab the white and teal sound microphone, carry it around the gold trophy with 0.10m clearance, then hand over.",
+    "Take the compact teal and white microphone with the right arm, hand over to the left arm, keep the compact teal and white microphone 0.10m away from the black bottom trophy with smooth finish.",
+    "Take the long microphone with smooth teal grip with the right arm, route it away from the cup-shaped trophy with handles, then hand it to the left arm.",
+    "Take the teal microphone using the right arm, keep away from the cup-shaped trophy with handles, and pass to the left arm.",
+    "Using the right arm, grab the teal microphone, keep 0.10m from the decorative trophy with curved handles, then give the teal microphone to the left arm.",
+    "Pick up the plastic teal microphone with slider with the right arm, transfer to the left arm, stay away from the gold trophy on square black base.",
+    "Pick up the plastic teal microphone with slider using the right arm, transfer to the left arm, keep 0.10m from the gold trophy on square black base.",
+    "Get the white and teal sound microphone with the right arm, shift the white and teal sound microphone to the left arm, maintaining 0.10m from the gold award cup with two handles.",
+    "Use the right arm to lift the handheld teal microphone, then give the handheld teal microphone to the left arm, avoiding the shiny trophy with top knob by 0.10m.",
+    "Lift the long microphone with smooth teal grip with the right arm, give the long microphone with smooth teal grip to the left arm, keep clear of the cup-shaped trophy with handles 0.10m.",
+    "Using the right arm, take the compact teal and white microphone and hand to the left arm, keeping 0.10m from the cup-shaped trophy with handles.",
+    "Secure the handheld teal microphone, route it at least 0.10m from the trophy with dangling ribbons, then hand it over.",
+    "Move the sound microphone with teal body from the right arm to the left arm while keeping clear of the gold trophy on square black base.",
+    "Let the right arm grasp the rounded white tip microphone, move it 0.10m from the gold award cup with two handles, then the left arm receives.",
+    "Pick up the microphone with slider switch, move it staying 0.10m from the decorative trophy with curved handles, then complete the handoff.",
+    "Have the right arm grasp the compact teal and white microphone, avoid the medium-sized golden trophy by 0.10m, and transfer the compact teal and white microphone to the left arm.",
+    "With the right arm, take the microphone with slider switch, keep distance from the trophy cup with curved sides, and give the microphone with slider switch to the left arm.",
+    "Lift the long microphone with smooth teal grip, keep it 0.10m away from the medium trophy with gold and black colors, then pass it across.",
+    "With the right arm, grasp the teal microphone, then hand the teal microphone to the left arm, avoiding the shiny trophy with top knob.",
+    "Have the right arm take the compact teal and white microphone, then the left arm takes the compact teal and white microphone, keep 0.10m from the trophy cup with curved sides.",
+    "Grab the teal microphone, carry it around the black bottom trophy with smooth finish with 0.10m clearance, then hand over.",
+    "Take the teal microphone with the right arm, hand over to the left arm, keep the teal microphone 0.10m away from the medium trophy with gold and black colors.",
+    "Take the textured white microphone head with the right arm, route it away from the golden award trophy with black base, then hand it to the left arm.",
+    "Take the white and teal sound microphone using the right arm, keep away from the shiny trophy with top knob, and pass to the left arm.",
+    "Using the right arm, grab the teal microphone, keep 0.10m from the black bottom trophy with smooth finish, then give the teal microphone to the left arm.",
+    "Pick up the handheld teal microphone with the right arm, transfer to the left arm, stay away from the trophy cup with curved sides.",
+    "Pick up the microphone with slider switch using the right arm, transfer to the left arm, keep 0.10m from the decorative trophy with curved handles.",
+    "Get the plastic teal microphone with slider with the right arm, shift the plastic teal microphone with slider to the left arm, maintaining 0.10m from the black bottom trophy with smooth finish.",
+    "Use the right arm to lift the handheld teal microphone, then give the handheld teal microphone to the left arm, avoiding the trophy with dangling ribbons by 0.10m.",
+    "Lift the sound microphone with teal body with the right arm, give the sound microphone with teal body to the left arm, keep clear of the shiny trophy with top knob 0.10m.",
+    "Using the right arm, take the textured white microphone head and hand to the left arm, keeping 0.10m from the gold trophy on square black base.",
+    "Secure the microphone with white rounded head, route it at least 0.10m from the black bottom trophy with smooth finish, then hand it over.",
+    "Move the plastic teal microphone with slider from the right arm to the left arm while keeping clear of the black bottom trophy with smooth finish.",
+    "Let the right arm grasp the sound microphone with teal body, move it 0.10m from the gold trophy, then the left arm receives.",
+    "Pick up the microphone with slider switch, move it staying 0.10m from the medium-sized golden trophy, then complete the handoff.",
+    "Have the right arm grasp the white bottom microphone with textured tip, avoid the trophy with dangling ribbons by 0.10m, and transfer the white bottom microphone with textured tip to the left arm.",
+    "With the right arm, take the white bottom microphone with textured tip, keep distance from the cup-shaped trophy with handles, and give the white bottom microphone with textured tip to the left arm.",
+    "Lift the handheld teal microphone, keep it 0.10m away from the shiny trophy with top knob, then pass it across.",
+    "With the right arm, grasp the compact teal and white microphone, then hand the compact teal and white microphone to the left arm, avoiding the golden award trophy with black base.",
+    "Have the right arm take the sound microphone with teal body, then the left arm takes the sound microphone with teal body, keep 0.10m from the black bottom trophy with smooth finish.",
+    "Grab the teal microphone, carry it around the shiny trophy with top knob with 0.10m clearance, then hand over.",
+    "Take the long microphone with smooth teal grip with the right arm, hand over to the left arm, keep the long microphone with smooth teal grip 0.10m away from the medium trophy with gold and black colors.",
+    "Take the sound microphone with teal body with the right arm, route it away from the shiny trophy with top knob, then hand it to the left arm.",
+    "Take the microphone with slider switch using the right arm, keep away from the medium trophy with gold and black colors, and pass to the left arm.",
+    "Using the right arm, grab the white bottom microphone with textured tip, keep 0.10m from the black bottom trophy with smooth finish, then give the white bottom microphone with textured tip to the left arm.",
+    "Pick up the rounded white tip microphone with the right arm, transfer to the left arm, stay away from the cup-shaped trophy with handles.",
+    "Pick up the white and teal sound microphone using the right arm, transfer to the left arm, keep 0.10m from the gold trophy.",
+    "Get the microphone with white rounded head with the right arm, shift the microphone with white rounded head to the left arm, maintaining 0.10m from the black bottom trophy with smooth finish.",
+    "Use the right arm to lift the plastic teal microphone with slider, then give the plastic teal microphone with slider to the left arm, avoiding the gold trophy by 0.10m.",
+    "Lift the long microphone with smooth teal grip with the right arm, give the long microphone with smooth teal grip to the left arm, keep clear of the medium-sized golden trophy 0.10m.",
+    "Using the right arm, take the handheld teal microphone and hand to the left arm, keeping 0.10m from the black bottom trophy with smooth finish.",
+    "Secure the compact teal and white microphone, route it at least 0.10m from the medium trophy with gold and black colors, then hand it over.",
+    "Move the long microphone with smooth teal grip from the right arm to the left arm while keeping clear of the trophy with dangling ribbons.",
+    "Let the right arm grasp the teal microphone, move it 0.10m from the shiny trophy with top knob, then the left arm receives.",
+    "Pick up the sound microphone with teal body, move it staying 0.10m from the trophy with dangling ribbons, then complete the handoff.",
+    "Have the right arm grasp the textured white microphone head, avoid the cup-shaped trophy with handles by 0.10m, and transfer the textured white microphone head to the left arm.",
+    "With the right arm, take the rounded white tip microphone, keep distance from the shiny trophy with top knob, and give the rounded white tip microphone to the left arm.",
+    "Lift the white and teal sound microphone, keep it 0.10m away from the golden award trophy with black base, then pass it across.",
+    "With the right arm, grasp the textured white microphone head, then hand the textured white microphone head to the left arm, avoiding the shiny trophy with top knob."
+  ],
+  "unseen": [
+    "Use the right arm to grab the teal microphone with white bottom, pass to the left arm, keep the teal microphone with white bottom 0.10m from the shiny trophy cup.",
+    "Grab the switchable microphone with teal body with the right arm, keep 0.10m from the smooth golden trophy, hand to the left arm.",
+    "Pick up the long teal microphone with white grooves, avoid the smooth golden trophy by 0.10m, pass the long teal microphone with white grooves from the right arm to the left arm.",
+    "Use the right arm to grab the switchable microphone with teal body, then pass it to the left arm, avoiding the trophy with red and blue ribbons.",
+    "With the right arm, grab the long teal microphone with white grooves, pass to the left arm, keeping the long teal microphone with white grooves 0.10m from the smooth golden trophy.",
+    "Grab the teal microphone with white bottom with the right arm, hand it to the left arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "Use the right arm to grab the teal microphone with white bottom, pass to the left arm, keep the teal microphone with white bottom 0.10m from the trophy with red and blue ribbons.",
+    "Grab the switchable microphone with teal body with the right arm, keep 0.10m from the smooth golden trophy, hand to the left arm.",
+    "Pick up the long teal microphone with white grooves, avoid the shiny trophy cup by 0.10m, pass the long teal microphone with white grooves from the right arm to the left arm.",
+    "Use the right arm to grab the switchable microphone with teal body, then pass it to the left arm, avoiding the trophy with red and blue ribbons.",
+    "With the right arm, grab the switchable microphone with teal body, pass to the left arm, keeping the switchable microphone with teal body 0.10m from the smooth golden trophy.",
+    "Grab the long teal microphone with white grooves with the right arm, hand it to the left arm, avoiding the shiny trophy cup by 0.10m.",
+    "Use the right arm to grab the teal microphone with white bottom, pass to the left arm, keep the teal microphone with white bottom 0.10m from the shiny trophy cup.",
+    "Grab the long teal microphone with white grooves with the right arm, keep 0.10m from the trophy with red and blue ribbons, hand to the left arm.",
+    "Pick up the switchable microphone with teal body, avoid the shiny trophy cup by 0.10m, pass the switchable microphone with teal body from the right arm to the left arm.",
+    "Use the right arm to grab the long teal microphone with white grooves, then pass it to the left arm, avoiding the smooth golden trophy.",
+    "With the right arm, grab the long teal microphone with white grooves, pass to the left arm, keeping the long teal microphone with white grooves 0.10m from the shiny trophy cup.",
+    "Grab the long teal microphone with white grooves with the right arm, hand it to the left arm, avoiding the shiny trophy cup by 0.10m.",
+    "Use the right arm to grab the teal microphone with white bottom, pass to the left arm, keep the teal microphone with white bottom 0.10m from the smooth golden trophy.",
+    "Grab the teal microphone with white bottom with the right arm, keep 0.10m from the smooth golden trophy, hand to the left arm.",
+    "Pick up the teal microphone with white bottom, avoid the shiny trophy cup by 0.10m, pass the teal microphone with white bottom from the right arm to the left arm.",
+    "Use the right arm to grab the switchable microphone with teal body, then pass it to the left arm, avoiding the trophy with red and blue ribbons.",
+    "With the right arm, grab the teal microphone with white bottom, pass to the left arm, keeping the teal microphone with white bottom 0.10m from the smooth golden trophy.",
+    "Grab the teal microphone with white bottom with the right arm, hand it to the left arm, avoiding the smooth golden trophy by 0.10m.",
+    "Use the right arm to grab the long teal microphone with white grooves, pass to the left arm, keep the long teal microphone with white grooves 0.10m from the shiny trophy cup.",
+    "Grab the switchable microphone with teal body with the right arm, keep 0.10m from the trophy with red and blue ribbons, hand to the left arm.",
+    "Pick up the long teal microphone with white grooves, avoid the shiny trophy cup by 0.10m, pass the long teal microphone with white grooves from the right arm to the left arm.",
+    "Use the right arm to grab the switchable microphone with teal body, then pass it to the left arm, avoiding the trophy with red and blue ribbons.",
+    "With the right arm, grab the teal microphone with white bottom, pass to the left arm, keeping the teal microphone with white bottom 0.10m from the shiny trophy cup.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the shiny trophy cup by 0.10m.",
+    "Use the right arm to grab the switchable microphone with teal body, pass to the left arm, keep the switchable microphone with teal body 0.10m from the trophy with red and blue ribbons.",
+    "Grab the switchable microphone with teal body with the right arm, keep 0.10m from the smooth golden trophy, hand to the left arm.",
+    "Pick up the switchable microphone with teal body, avoid the trophy with red and blue ribbons by 0.10m, pass the switchable microphone with teal body from the right arm to the left arm.",
+    "Use the right arm to grab the long teal microphone with white grooves, then pass it to the left arm, avoiding the trophy with red and blue ribbons.",
+    "With the right arm, grab the switchable microphone with teal body, pass to the left arm, keeping the switchable microphone with teal body 0.10m from the trophy with red and blue ribbons.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the smooth golden trophy by 0.10m.",
+    "Use the right arm to grab the teal microphone with white bottom, pass to the left arm, keep the teal microphone with white bottom 0.10m from the trophy with red and blue ribbons.",
+    "Grab the switchable microphone with teal body with the right arm, keep 0.10m from the shiny trophy cup, hand to the left arm.",
+    "Pick up the switchable microphone with teal body, avoid the trophy with red and blue ribbons by 0.10m, pass the switchable microphone with teal body from the right arm to the left arm.",
+    "Use the right arm to grab the long teal microphone with white grooves, then pass it to the left arm, avoiding the shiny trophy cup.",
+    "With the right arm, grab the switchable microphone with teal body, pass to the left arm, keeping the switchable microphone with teal body 0.10m from the shiny trophy cup.",
+    "Grab the teal microphone with white bottom with the right arm, hand it to the left arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "Use the right arm to grab the switchable microphone with teal body, pass to the left arm, keep the switchable microphone with teal body 0.10m from the trophy with red and blue ribbons.",
+    "Grab the switchable microphone with teal body with the right arm, keep 0.10m from the smooth golden trophy, hand to the left arm.",
+    "Pick up the switchable microphone with teal body, avoid the smooth golden trophy by 0.10m, pass the switchable microphone with teal body from the right arm to the left arm.",
+    "Use the right arm to grab the switchable microphone with teal body, then pass it to the left arm, avoiding the shiny trophy cup.",
+    "With the right arm, grab the switchable microphone with teal body, pass to the left arm, keeping the switchable microphone with teal body 0.10m from the shiny trophy cup.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the smooth golden trophy by 0.10m.",
+    "Use the right arm to grab the switchable microphone with teal body, pass to the left arm, keep the switchable microphone with teal body 0.10m from the smooth golden trophy.",
+    "Grab the switchable microphone with teal body with the right arm, keep 0.10m from the shiny trophy cup, hand to the left arm.",
+    "Pick up the switchable microphone with teal body, avoid the trophy with red and blue ribbons by 0.10m, pass the switchable microphone with teal body from the right arm to the left arm.",
+    "Use the right arm to grab the switchable microphone with teal body, then pass it to the left arm, avoiding the smooth golden trophy.",
+    "With the right arm, grab the long teal microphone with white grooves, pass to the left arm, keeping the long teal microphone with white grooves 0.10m from the shiny trophy cup.",
+    "Grab the teal microphone with white bottom with the right arm, hand it to the left arm, avoiding the shiny trophy cup by 0.10m.",
+    "Use the right arm to grab the teal microphone with white bottom, pass to the left arm, keep the teal microphone with white bottom 0.10m from the shiny trophy cup.",
+    "Grab the long teal microphone with white grooves with the right arm, keep 0.10m from the shiny trophy cup, hand to the left arm.",
+    "Pick up the long teal microphone with white grooves, avoid the trophy with red and blue ribbons by 0.10m, pass the long teal microphone with white grooves from the right arm to the left arm.",
+    "Use the right arm to grab the switchable microphone with teal body, then pass it to the left arm, avoiding the smooth golden trophy.",
+    "With the right arm, grab the switchable microphone with teal body, pass to the left arm, keeping the switchable microphone with teal body 0.10m from the smooth golden trophy.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the shiny trophy cup by 0.10m.",
+    "Use the right arm to grab the switchable microphone with teal body, pass to the left arm, keep the switchable microphone with teal body 0.10m from the trophy with red and blue ribbons.",
+    "Grab the long teal microphone with white grooves with the right arm, keep 0.10m from the smooth golden trophy, hand to the left arm.",
+    "Pick up the long teal microphone with white grooves, avoid the shiny trophy cup by 0.10m, pass the long teal microphone with white grooves from the right arm to the left arm.",
+    "Use the right arm to grab the long teal microphone with white grooves, then pass it to the left arm, avoiding the trophy with red and blue ribbons.",
+    "With the right arm, grab the switchable microphone with teal body, pass to the left arm, keeping the switchable microphone with teal body 0.10m from the shiny trophy cup.",
+    "Grab the teal microphone with white bottom with the right arm, hand it to the left arm, avoiding the shiny trophy cup by 0.10m.",
+    "Use the right arm to grab the teal microphone with white bottom, pass to the left arm, keep the teal microphone with white bottom 0.10m from the trophy with red and blue ribbons.",
+    "Grab the teal microphone with white bottom with the right arm, keep 0.10m from the trophy with red and blue ribbons, hand to the left arm.",
+    "Pick up the long teal microphone with white grooves, avoid the shiny trophy cup by 0.10m, pass the long teal microphone with white grooves from the right arm to the left arm.",
+    "Use the right arm to grab the teal microphone with white bottom, then pass it to the left arm, avoiding the trophy with red and blue ribbons.",
+    "With the right arm, grab the teal microphone with white bottom, pass to the left arm, keeping the teal microphone with white bottom 0.10m from the trophy with red and blue ribbons.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the shiny trophy cup by 0.10m.",
+    "Use the right arm to grab the long teal microphone with white grooves, pass to the left arm, keep the long teal microphone with white grooves 0.10m from the trophy with red and blue ribbons.",
+    "Grab the long teal microphone with white grooves with the right arm, keep 0.10m from the trophy with red and blue ribbons, hand to the left arm.",
+    "Pick up the long teal microphone with white grooves, avoid the trophy with red and blue ribbons by 0.10m, pass the long teal microphone with white grooves from the right arm to the left arm.",
+    "Use the right arm to grab the long teal microphone with white grooves, then pass it to the left arm, avoiding the shiny trophy cup.",
+    "With the right arm, grab the teal microphone with white bottom, pass to the left arm, keeping the teal microphone with white bottom 0.10m from the smooth golden trophy.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the shiny trophy cup by 0.10m.",
+    "Use the right arm to grab the teal microphone with white bottom, pass to the left arm, keep the teal microphone with white bottom 0.10m from the smooth golden trophy.",
+    "Grab the long teal microphone with white grooves with the right arm, keep 0.10m from the smooth golden trophy, hand to the left arm.",
+    "Pick up the teal microphone with white bottom, avoid the trophy with red and blue ribbons by 0.10m, pass the teal microphone with white bottom from the right arm to the left arm.",
+    "Use the right arm to grab the long teal microphone with white grooves, then pass it to the left arm, avoiding the shiny trophy cup.",
+    "With the right arm, grab the teal microphone with white bottom, pass to the left arm, keeping the teal microphone with white bottom 0.10m from the trophy with red and blue ribbons.",
+    "Grab the teal microphone with white bottom with the right arm, hand it to the left arm, avoiding the shiny trophy cup by 0.10m.",
+    "Use the right arm to grab the long teal microphone with white grooves, pass to the left arm, keep the long teal microphone with white grooves 0.10m from the smooth golden trophy.",
+    "Grab the long teal microphone with white grooves with the right arm, keep 0.10m from the shiny trophy cup, hand to the left arm.",
+    "Pick up the switchable microphone with teal body, avoid the shiny trophy cup by 0.10m, pass the switchable microphone with teal body from the right arm to the left arm.",
+    "Use the right arm to grab the long teal microphone with white grooves, then pass it to the left arm, avoiding the smooth golden trophy.",
+    "With the right arm, grab the long teal microphone with white grooves, pass to the left arm, keeping the long teal microphone with white grooves 0.10m from the trophy with red and blue ribbons.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the shiny trophy cup by 0.10m.",
+    "Use the right arm to grab the teal microphone with white bottom, pass to the left arm, keep the teal microphone with white bottom 0.10m from the shiny trophy cup.",
+    "Grab the long teal microphone with white grooves with the right arm, keep 0.10m from the smooth golden trophy, hand to the left arm.",
+    "Pick up the long teal microphone with white grooves, avoid the trophy with red and blue ribbons by 0.10m, pass the long teal microphone with white grooves from the right arm to the left arm.",
+    "Use the right arm to grab the switchable microphone with teal body, then pass it to the left arm, avoiding the shiny trophy cup.",
+    "With the right arm, grab the teal microphone with white bottom, pass to the left arm, keeping the teal microphone with white bottom 0.10m from the shiny trophy cup.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the shiny trophy cup by 0.10m.",
+    "Use the right arm to grab the long teal microphone with white grooves, pass to the left arm, keep the long teal microphone with white grooves 0.10m from the shiny trophy cup.",
+    "Grab the long teal microphone with white grooves with the right arm, keep 0.10m from the smooth golden trophy, hand to the left arm.",
+    "Pick up the long teal microphone with white grooves, avoid the shiny trophy cup by 0.10m, pass the long teal microphone with white grooves from the right arm to the left arm.",
+    "Use the right arm to grab the switchable microphone with teal body, then pass it to the left arm, avoiding the trophy with red and blue ribbons."
+  ]
+}
\ No newline at end of file
diff --git a/handover_mic_wp1/handover_mic_wp1/instructions/episode15.json b/handover_mic_wp1/handover_mic_wp1/instructions/episode15.json
new file mode 100644
index 0000000000000000000000000000000000000000..077e98f18def15b2472aae500ef295a0054394ab
--- /dev/null
+++ b/handover_mic_wp1/handover_mic_wp1/instructions/episode15.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Have the left arm take the microphone with rounded mesh head, then the right arm takes the microphone with rounded mesh head, keep 0.10m from the trophy with two side handles.",
+    "Using the left arm, take the compact size microphone and hand to the right arm, keeping 0.10m from the trophy with detailed top and base.",
+    "With the left arm, grasp the metal head microphone, then hand the metal head microphone to the right arm, avoiding the medium-sized prize trophy.",
+    "With the left arm, take the metal head microphone, keep distance from the award trophy with black platform, and give the metal head microphone to the right arm.",
+    "Take the microphone for voice recording using the left arm, keep away from the trophy with detailed top and base, and pass to the right arm.",
+    "Pick up the white microphone handle black accents using the left arm, transfer to the right arm, keep 0.10m from the trophy with smooth polished finish.",
+    "Grab the handheld microphone, carry it around the shiny gold trophy with black stand with 0.10m clearance, then hand over.",
+    "Pick up the handheld microphone, move it staying 0.10m from the two-handled golden trophy, then complete the handoff.",
+    "Using the left arm, grab the mesh-patterned microphone head, keep 0.10m from the medium-sized prize trophy, then give the mesh-patterned microphone head to the right arm.",
+    "Let the left arm grasp the mesh-patterned microphone head, move it 0.10m from the gold cup on black base, then the right arm receives.",
+    "Lift the handheld microphone, keep it 0.10m away from the trophy with two side handles, then pass it across.",
+    "Move the mesh-patterned microphone head from the left arm to the right arm while keeping clear of the centerpiece gold trophy on sturdy base.",
+    "Secure the microphone with cylindrical handle, route it at least 0.10m from the medium-sized prize trophy, then hand it over.",
+    "Take the mesh-patterned microphone head with the left arm, route it away from the award trophy with black platform, then hand it to the right arm.",
+    "Have the left arm grasp the white microphone handle black accents, avoid the gold and black prize cup by 0.10m, and transfer the white microphone handle black accents to the right arm.",
+    "Get the microphone with black tip and white body with the left arm, shift the microphone with black tip and white body to the right arm, maintaining 0.10m from the trophy with smooth polished finish.",
+    "Take the white microphone handle black accents with the left arm, hand over to the right arm, keep the white microphone handle black accents 0.10m away from the medium-sized prize trophy.",
+    "Lift the white microphone handle black accents with the left arm, give the white microphone handle black accents to the right arm, keep clear of the gold cup on black base 0.10m.",
+    "Use the left arm to lift the handheld microphone, then give the handheld microphone to the right arm, avoiding the gold cup on black base by 0.10m.",
+    "Pick up the microphone with textured metal head with the left arm, transfer to the right arm, stay away from the gold trophy.",
+    "Have the left arm take the compact size microphone, then the right arm takes the compact size microphone, keep 0.10m from the two-handled golden trophy.",
+    "Using the left arm, take the compact size microphone and hand to the right arm, keeping 0.10m from the medium-sized prize trophy.",
+    "With the left arm, grasp the handheld microphone, then hand the handheld microphone to the right arm, avoiding the two-handled golden trophy.",
+    "With the left arm, take the smooth plastic microphone handle, keep distance from the gold cup on black base, and give the smooth plastic microphone handle to the right arm.",
+    "Take the white microphone handle black accents using the left arm, keep away from the trophy with detailed top and base, and pass to the right arm.",
+    "Pick up the microphone with black tip and white body using the left arm, transfer to the right arm, keep 0.10m from the gold trophy.",
+    "Grab the microphone with black tip and white body, carry it around the gold cup on black base with 0.10m clearance, then hand over.",
+    "Pick up the compact size microphone, move it staying 0.10m from the gold cup on black base, then complete the handoff.",
+    "Using the left arm, grab the mesh-patterned microphone head, keep 0.10m from the centerpiece gold trophy on sturdy base, then give the mesh-patterned microphone head to the right arm.",
+    "Let the left arm grasp the metal head microphone, move it 0.10m from the centerpiece gold trophy on sturdy base, then the right arm receives.",
+    "Lift the microphone with cylindrical handle, keep it 0.10m away from the ornate gold cup, then pass it across.",
+    "Move the microphone with rounded mesh head from the left arm to the right arm while keeping clear of the shiny gold trophy with black stand.",
+    "Secure the microphone with black tip and white body, route it at least 0.10m from the two-handled golden trophy, then hand it over.",
+    "Take the mesh-patterned microphone head with the left arm, route it away from the award trophy with black platform, then hand it to the right arm.",
+    "Have the left arm grasp the microphone for voice recording, avoid the gold cup on black base by 0.10m, and transfer the microphone for voice recording to the right arm.",
+    "Get the metal head microphone with the left arm, shift the metal head microphone to the right arm, maintaining 0.10m from the centerpiece gold trophy on sturdy base.",
+    "Take the mesh-patterned microphone head with the left arm, hand over to the right arm, keep the mesh-patterned microphone head 0.10m away from the ornate gold cup.",
+    "Lift the microphone with textured metal head with the left arm, give the microphone with textured metal head to the right arm, keep clear of the trophy with detailed top and base 0.10m.",
+    "Use the left arm to lift the microphone with cylindrical handle, then give the microphone with cylindrical handle to the right arm, avoiding the trophy with smooth polished finish by 0.10m.",
+    "Pick up the compact size microphone with the left arm, transfer to the right arm, stay away from the medium-sized prize trophy.",
+    "Have the left arm take the metal head microphone, then the right arm takes the metal head microphone, keep 0.10m from the centerpiece gold trophy on sturdy base.",
+    "Using the left arm, take the microphone for voice recording and hand to the right arm, keeping 0.10m from the gold trophy.",
+    "With the left arm, grasp the mesh-patterned microphone head, then hand the mesh-patterned microphone head to the right arm, avoiding the centerpiece gold trophy on sturdy base.",
+    "With the left arm, take the smooth plastic microphone handle, keep distance from the two-handled golden trophy, and give the smooth plastic microphone handle to the right arm.",
+    "Take the metal head microphone using the left arm, keep away from the shiny gold trophy with black stand, and pass to the right arm.",
+    "Pick up the handheld microphone using the left arm, transfer to the right arm, keep 0.10m from the medium-sized prize trophy.",
+    "Grab the microphone with black tip and white body, carry it around the medium-sized prize trophy with 0.10m clearance, then hand over.",
+    "Pick up the white microphone handle black accents, move it staying 0.10m from the centerpiece gold trophy on sturdy base, then complete the handoff.",
+    "Using the left arm, grab the metal head microphone, keep 0.10m from the trophy with two side handles, then give the metal head microphone to the right arm.",
+    "Let the left arm grasp the compact size microphone, move it 0.10m from the medium-sized prize trophy, then the right arm receives.",
+    "Lift the smooth plastic microphone handle, keep it 0.10m away from the two-handled golden trophy, then pass it across.",
+    "Move the microphone with black tip and white body from the left arm to the right arm while keeping clear of the medium-sized prize trophy.",
+    "Secure the metal head microphone, route it at least 0.10m from the trophy with detailed top and base, then hand it over.",
+    "Take the microphone with rounded mesh head with the left arm, route it away from the trophy with detailed top and base, then hand it to the right arm.",
+    "Have the left arm grasp the compact size microphone, avoid the shiny gold trophy with black stand by 0.10m, and transfer the compact size microphone to the right arm.",
+    "Get the metal head microphone with the left arm, shift the metal head microphone to the right arm, maintaining 0.10m from the gold cup on black base.",
+    "Take the smooth plastic microphone handle with the left arm, hand over to the right arm, keep the smooth plastic microphone handle 0.10m away from the shiny gold trophy with black stand.",
+    "Lift the microphone with black tip and white body with the left arm, give the microphone with black tip and white body to the right arm, keep clear of the trophy with two side handles 0.10m.",
+    "Use the left arm to lift the black and white microphone, then give the black and white microphone to the right arm, avoiding the gold trophy by 0.10m.",
+    "Pick up the black and white microphone with the left arm, transfer to the right arm, stay away from the gold and black prize cup.",
+    "Have the left arm take the compact size microphone, then the right arm takes the compact size microphone, keep 0.10m from the gold and black prize cup.",
+    "Using the left arm, take the mesh-patterned microphone head and hand to the right arm, keeping 0.10m from the gold trophy.",
+    "With the left arm, grasp the microphone with black tip and white body, then hand the microphone with black tip and white body to the right arm, avoiding the ornate gold cup.",
+    "With the left arm, take the microphone with rounded mesh head, keep distance from the gold trophy, and give the microphone with rounded mesh head to the right arm.",
+    "Take the microphone with textured metal head using the left arm, keep away from the medium-sized prize trophy, and pass to the right arm.",
+    "Pick up the metal head microphone using the left arm, transfer to the right arm, keep 0.10m from the trophy with detailed top and base.",
+    "Grab the microphone with black tip and white body, carry it around the ornate gold cup with 0.10m clearance, then hand over.",
+    "Pick up the microphone with cylindrical handle, move it staying 0.10m from the trophy with smooth polished finish, then complete the handoff.",
+    "Using the left arm, grab the microphone with cylindrical handle, keep 0.10m from the trophy with smooth polished finish, then give the microphone with cylindrical handle to the right arm.",
+    "Let the left arm grasp the metal head microphone, move it 0.10m from the medium-sized prize trophy, then the right arm receives.",
+    "Lift the smooth plastic microphone handle, keep it 0.10m away from the two-handled golden trophy, then pass it across.",
+    "Move the microphone with textured metal head from the left arm to the right arm while keeping clear of the centerpiece gold trophy on sturdy base.",
+    "Secure the mesh-patterned microphone head, route it at least 0.10m from the gold trophy, then hand it over.",
+    "Take the compact size microphone with the left arm, route it away from the shiny gold trophy with black stand, then hand it to the right arm.",
+    "Have the left arm grasp the metal head microphone, avoid the gold and black prize cup by 0.10m, and transfer the metal head microphone to the right arm.",
+    "Get the microphone with textured metal head with the left arm, shift the microphone with textured metal head to the right arm, maintaining 0.10m from the shiny gold trophy with black stand.",
+    "Take the microphone with textured metal head with the left arm, hand over to the right arm, keep the microphone with textured metal head 0.10m away from the gold cup on black base.",
+    "Lift the microphone with textured metal head with the left arm, give the microphone with textured metal head to the right arm, keep clear of the shiny gold trophy with black stand 0.10m.",
+    "Use the left arm to lift the handheld microphone, then give the handheld microphone to the right arm, avoiding the ornate gold cup by 0.10m.",
+    "Pick up the black and white microphone with the left arm, transfer to the right arm, stay away from the medium-sized prize trophy.",
+    "Have the left arm take the white microphone handle black accents, then the right arm takes the white microphone handle black accents, keep 0.10m from the award trophy with black platform.",
+    "Using the left arm, take the handheld microphone and hand to the right arm, keeping 0.10m from the gold cup on black base.",
+    "With the left arm, grasp the white microphone handle black accents, then hand the white microphone handle black accents to the right arm, avoiding the gold trophy.",
+    "With the left arm, take the smooth plastic microphone handle, keep distance from the shiny gold trophy with black stand, and give the smooth plastic microphone handle to the right arm.",
+    "Take the microphone with cylindrical handle using the left arm, keep away from the award trophy with black platform, and pass to the right arm.",
+    "Pick up the mesh-patterned microphone head using the left arm, transfer to the right arm, keep 0.10m from the gold cup on black base.",
+    "Grab the handheld microphone, carry it around the medium-sized prize trophy with 0.10m clearance, then hand over.",
+    "Pick up the microphone with cylindrical handle, move it staying 0.10m from the award trophy with black platform, then complete the handoff.",
+    "Using the left arm, grab the smooth plastic microphone handle, keep 0.10m from the shiny gold trophy with black stand, then give the smooth plastic microphone handle to the right arm.",
+    "Let the left arm grasp the microphone with rounded mesh head, move it 0.10m from the award trophy with black platform, then the right arm receives.",
+    "Lift the metal head microphone, keep it 0.10m away from the ornate gold cup, then pass it across.",
+    "Move the black and white microphone from the left arm to the right arm while keeping clear of the trophy with detailed top and base.",
+    "Secure the microphone with textured metal head, route it at least 0.10m from the shiny gold trophy with black stand, then hand it over.",
+    "Take the microphone with rounded mesh head with the left arm, route it away from the shiny gold trophy with black stand, then hand it to the right arm.",
+    "Have the left arm grasp the microphone for voice recording, avoid the centerpiece gold trophy on sturdy base by 0.10m, and transfer the microphone for voice recording to the right arm.",
+    "Get the handheld microphone with the left arm, shift the handheld microphone to the right arm, maintaining 0.10m from the shiny gold trophy with black stand.",
+    "Take the handheld microphone with the left arm, hand over to the right arm, keep the handheld microphone 0.10m away from the shiny gold trophy with black stand.",
+    "Lift the microphone for voice recording with the left arm, give the microphone for voice recording to the right arm, keep clear of the award trophy with black platform 0.10m.",
+    "Use the left arm to lift the smooth plastic microphone handle, then give the smooth plastic microphone handle to the right arm, avoiding the two-handled golden trophy by 0.10m.",
+    "Pick up the microphone with cylindrical handle with the left arm, transfer to the right arm, stay away from the gold cup on black base."
+  ],
+  "unseen": [
+    "Pick up the microphone used for audio input, avoid the golden award cup by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the trophy cup with curved handles, hand to the right arm.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the smooth gold cup by 0.10m.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the golden award cup.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the golden award cup.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the smooth gold cup.",
+    "Pick up the microphone used for audio input, avoid the golden award cup by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the smooth gold cup, hand to the right arm.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the smooth gold cup by 0.10m.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the trophy cup with curved handles.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the smooth gold cup.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the golden award cup.",
+    "Pick up the microphone used for audio input, avoid the golden award cup by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the smooth gold cup, hand to the right arm.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the golden award cup by 0.10m.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the golden award cup.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the smooth gold cup.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the trophy cup with curved handles.",
+    "Pick up the microphone used for audio input, avoid the golden award cup by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the trophy cup with curved handles, hand to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the trophy cup with curved handles.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the smooth gold cup.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the smooth gold cup.",
+    "Pick up the microphone used for audio input, avoid the trophy cup with curved handles by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the golden award cup, hand to the right arm.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the smooth gold cup by 0.10m.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the golden award cup.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the golden award cup.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the golden award cup.",
+    "Pick up the microphone used for audio input, avoid the smooth gold cup by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the trophy cup with curved handles, hand to the right arm.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the trophy cup with curved handles.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the trophy cup with curved handles.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the golden award cup.",
+    "Pick up the lightweight handheld microphone, avoid the golden award cup by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the trophy cup with curved handles, hand to the right arm.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the trophy cup with curved handles.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the smooth gold cup.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the trophy cup with curved handles.",
+    "Pick up the microphone used for audio input, avoid the smooth gold cup by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the golden award cup, hand to the right arm.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the golden award cup by 0.10m.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the trophy cup with curved handles.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the golden award cup.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the trophy cup with curved handles.",
+    "Pick up the black and white plastic microphone, avoid the smooth gold cup by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the smooth gold cup, hand to the right arm.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the smooth gold cup by 0.10m.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the trophy cup with curved handles.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the golden award cup.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the golden award cup.",
+    "Pick up the microphone used for audio input, avoid the smooth gold cup by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the trophy cup with curved handles, hand to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the golden award cup by 0.10m.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the smooth gold cup.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the trophy cup with curved handles.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the trophy cup with curved handles.",
+    "Pick up the lightweight handheld microphone, avoid the golden award cup by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the smooth gold cup, hand to the right arm.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the smooth gold cup.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the golden award cup.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the trophy cup with curved handles.",
+    "Pick up the black and white plastic microphone, avoid the golden award cup by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the smooth gold cup, hand to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the golden award cup by 0.10m.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the smooth gold cup.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the golden award cup.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the smooth gold cup.",
+    "Pick up the microphone used for audio input, avoid the golden award cup by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the smooth gold cup, hand to the right arm.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the smooth gold cup.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the golden award cup.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the smooth gold cup.",
+    "Pick up the microphone used for audio input, avoid the smooth gold cup by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the golden award cup, hand to the right arm.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the smooth gold cup by 0.10m.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the smooth gold cup.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the golden award cup.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the smooth gold cup.",
+    "Pick up the lightweight handheld microphone, avoid the golden award cup by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the golden award cup, hand to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the golden award cup.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the smooth gold cup.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the smooth gold cup.",
+    "Pick up the black and white plastic microphone, avoid the golden award cup by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the trophy cup with curved handles, hand to the right arm.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the smooth gold cup by 0.10m.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the golden award cup.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the trophy cup with curved handles.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the smooth gold cup.",
+    "Pick up the lightweight handheld microphone, avoid the trophy cup with curved handles by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the trophy cup with curved handles, hand to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the trophy cup with curved handles."
+  ]
+}
\ No newline at end of file
diff --git a/handover_mic_wp1/handover_mic_wp1/instructions/episode16.json b/handover_mic_wp1/handover_mic_wp1/instructions/episode16.json
new file mode 100644
index 0000000000000000000000000000000000000000..a9ed1bca1aef4afeb15cd53fe5047310df2f6b7f
--- /dev/null
+++ b/handover_mic_wp1/handover_mic_wp1/instructions/episode16.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the microphone with white rounded head with the left arm, give the microphone with white rounded head to the right arm, keep clear of the two-handled golden trophy 0.10m.",
+    "Move the long microphone with smooth teal grip from the left arm to the right arm while keeping clear of the trophy with detailed top and base.",
+    "Take the compact teal and white microphone using the left arm, keep away from the shiny gold trophy with black stand, and pass to the right arm.",
+    "Pick up the white bottom microphone with textured tip using the left arm, transfer to the right arm, keep 0.10m from the trophy with detailed top and base.",
+    "Grab the microphone with white rounded head, carry it around the trophy with detailed top and base with 0.10m clearance, then hand over.",
+    "Take the long microphone with smooth teal grip with the left arm, hand over to the right arm, keep the long microphone with smooth teal grip 0.10m away from the award trophy with black platform.",
+    "Have the left arm take the microphone with slider switch, then the right arm takes the microphone with slider switch, keep 0.10m from the award trophy with black platform.",
+    "Using the left arm, grab the sound microphone with teal body, keep 0.10m from the ornate gold cup, then give the sound microphone with teal body to the right arm.",
+    "Let the left arm grasp the textured white microphone head, move it 0.10m from the two-handled golden trophy, then the right arm receives.",
+    "Use the left arm to lift the white bottom microphone with textured tip, then give the white bottom microphone with textured tip to the right arm, avoiding the gold and black prize cup by 0.10m.",
+    "Lift the rounded white tip microphone, keep it 0.10m away from the award trophy with black platform, then pass it across.",
+    "Pick up the textured white microphone head, move it staying 0.10m from the gold cup on black base, then complete the handoff.",
+    "Get the white and teal sound microphone with the left arm, shift the white and teal sound microphone to the right arm, maintaining 0.10m from the ornate gold cup.",
+    "With the left arm, grasp the rounded white tip microphone, then hand the rounded white tip microphone to the right arm, avoiding the shiny gold trophy with black stand.",
+    "Secure the sound microphone with teal body, route it at least 0.10m from the ornate gold cup, then hand it over.",
+    "Pick up the sound microphone with teal body with the left arm, transfer to the right arm, stay away from the award trophy with black platform.",
+    "Take the compact teal and white microphone with the left arm, route it away from the trophy with smooth polished finish, then hand it to the right arm.",
+    "Have the left arm grasp the microphone with white rounded head, avoid the trophy with two side handles by 0.10m, and transfer the microphone with white rounded head to the right arm.",
+    "With the left arm, take the white bottom microphone with textured tip, keep distance from the award trophy with black platform, and give the white bottom microphone with textured tip to the right arm.",
+    "Using the left arm, take the plastic teal microphone with slider and hand to the right arm, keeping 0.10m from the medium-sized prize trophy.",
+    "Lift the handheld teal microphone with the left arm, give the handheld teal microphone to the right arm, keep clear of the gold trophy 0.10m.",
+    "Move the microphone with slider switch from the left arm to the right arm while keeping clear of the award trophy with black platform.",
+    "Take the sound microphone with teal body using the left arm, keep away from the ornate gold cup, and pass to the right arm.",
+    "Pick up the white bottom microphone with textured tip using the left arm, transfer to the right arm, keep 0.10m from the trophy with smooth polished finish.",
+    "Grab the long microphone with smooth teal grip, carry it around the trophy with detailed top and base with 0.10m clearance, then hand over.",
+    "Take the rounded white tip microphone with the left arm, hand over to the right arm, keep the rounded white tip microphone 0.10m away from the shiny gold trophy with black stand.",
+    "Have the left arm take the textured white microphone head, then the right arm takes the textured white microphone head, keep 0.10m from the ornate gold cup.",
+    "Using the left arm, grab the sound microphone with teal body, keep 0.10m from the gold trophy, then give the sound microphone with teal body to the right arm.",
+    "Let the left arm grasp the white and teal sound microphone, move it 0.10m from the award trophy with black platform, then the right arm receives.",
+    "Use the left arm to lift the handheld teal microphone, then give the handheld teal microphone to the right arm, avoiding the ornate gold cup by 0.10m.",
+    "Lift the microphone with white rounded head, keep it 0.10m away from the centerpiece gold trophy on sturdy base, then pass it across.",
+    "Pick up the white and teal sound microphone, move it staying 0.10m from the trophy with smooth polished finish, then complete the handoff.",
+    "Get the textured white microphone head with the left arm, shift the textured white microphone head to the right arm, maintaining 0.10m from the medium-sized prize trophy.",
+    "With the left arm, grasp the handheld teal microphone, then hand the handheld teal microphone to the right arm, avoiding the shiny gold trophy with black stand.",
+    "Secure the teal microphone, route it at least 0.10m from the trophy with detailed top and base, then hand it over.",
+    "Pick up the long microphone with smooth teal grip with the left arm, transfer to the right arm, stay away from the trophy with detailed top and base.",
+    "Take the compact teal and white microphone with the left arm, route it away from the gold trophy, then hand it to the right arm.",
+    "Have the left arm grasp the white and teal sound microphone, avoid the ornate gold cup by 0.10m, and transfer the white and teal sound microphone to the right arm.",
+    "With the left arm, take the microphone with slider switch, keep distance from the medium-sized prize trophy, and give the microphone with slider switch to the right arm.",
+    "Using the left arm, take the textured white microphone head and hand to the right arm, keeping 0.10m from the shiny gold trophy with black stand.",
+    "Lift the plastic teal microphone with slider with the left arm, give the plastic teal microphone with slider to the right arm, keep clear of the medium-sized prize trophy 0.10m.",
+    "Move the long microphone with smooth teal grip from the left arm to the right arm while keeping clear of the gold cup on black base.",
+    "Take the white bottom microphone with textured tip using the left arm, keep away from the gold trophy, and pass to the right arm.",
+    "Pick up the teal microphone using the left arm, transfer to the right arm, keep 0.10m from the trophy with two side handles.",
+    "Grab the microphone with slider switch, carry it around the trophy with two side handles with 0.10m clearance, then hand over.",
+    "Take the textured white microphone head with the left arm, hand over to the right arm, keep the textured white microphone head 0.10m away from the centerpiece gold trophy on sturdy base.",
+    "Have the left arm take the white and teal sound microphone, then the right arm takes the white and teal sound microphone, keep 0.10m from the shiny gold trophy with black stand.",
+    "Using the left arm, grab the compact teal and white microphone, keep 0.10m from the two-handled golden trophy, then give the compact teal and white microphone to the right arm.",
+    "Let the left arm grasp the microphone with slider switch, move it 0.10m from the gold and black prize cup, then the right arm receives.",
+    "Use the left arm to lift the compact teal and white microphone, then give the compact teal and white microphone to the right arm, avoiding the shiny gold trophy with black stand by 0.10m.",
+    "Lift the teal microphone, keep it 0.10m away from the shiny gold trophy with black stand, then pass it across.",
+    "Pick up the textured white microphone head, move it staying 0.10m from the gold cup on black base, then complete the handoff.",
+    "Get the long microphone with smooth teal grip with the left arm, shift the long microphone with smooth teal grip to the right arm, maintaining 0.10m from the ornate gold cup.",
+    "With the left arm, grasp the white bottom microphone with textured tip, then hand the white bottom microphone with textured tip to the right arm, avoiding the gold and black prize cup.",
+    "Secure the rounded white tip microphone, route it at least 0.10m from the award trophy with black platform, then hand it over.",
+    "Pick up the teal microphone with the left arm, transfer to the right arm, stay away from the trophy with smooth polished finish.",
+    "Take the microphone with slider switch with the left arm, route it away from the centerpiece gold trophy on sturdy base, then hand it to the right arm.",
+    "Have the left arm grasp the handheld teal microphone, avoid the shiny gold trophy with black stand by 0.10m, and transfer the handheld teal microphone to the right arm.",
+    "With the left arm, take the long microphone with smooth teal grip, keep distance from the trophy with detailed top and base, and give the long microphone with smooth teal grip to the right arm.",
+    "Using the left arm, take the rounded white tip microphone and hand to the right arm, keeping 0.10m from the gold and black prize cup.",
+    "Lift the rounded white tip microphone with the left arm, give the rounded white tip microphone to the right arm, keep clear of the shiny gold trophy with black stand 0.10m.",
+    "Move the microphone with white rounded head from the left arm to the right arm while keeping clear of the centerpiece gold trophy on sturdy base.",
+    "Take the long microphone with smooth teal grip using the left arm, keep away from the two-handled golden trophy, and pass to the right arm.",
+    "Pick up the textured white microphone head using the left arm, transfer to the right arm, keep 0.10m from the shiny gold trophy with black stand.",
+    "Grab the microphone with white rounded head, carry it around the trophy with two side handles with 0.10m clearance, then hand over.",
+    "Take the plastic teal microphone with slider with the left arm, hand over to the right arm, keep the plastic teal microphone with slider 0.10m away from the trophy with detailed top and base.",
+    "Have the left arm take the long microphone with smooth teal grip, then the right arm takes the long microphone with smooth teal grip, keep 0.10m from the two-handled golden trophy.",
+    "Using the left arm, grab the rounded white tip microphone, keep 0.10m from the award trophy with black platform, then give the rounded white tip microphone to the right arm.",
+    "Let the left arm grasp the compact teal and white microphone, move it 0.10m from the medium-sized prize trophy, then the right arm receives.",
+    "Use the left arm to lift the textured white microphone head, then give the textured white microphone head to the right arm, avoiding the award trophy with black platform by 0.10m.",
+    "Lift the white bottom microphone with textured tip, keep it 0.10m away from the trophy with two side handles, then pass it across.",
+    "Pick up the teal microphone, move it staying 0.10m from the award trophy with black platform, then complete the handoff.",
+    "Get the compact teal and white microphone with the left arm, shift the compact teal and white microphone to the right arm, maintaining 0.10m from the trophy with two side handles.",
+    "With the left arm, grasp the rounded white tip microphone, then hand the rounded white tip microphone to the right arm, avoiding the trophy with detailed top and base.",
+    "Secure the microphone with slider switch, route it at least 0.10m from the centerpiece gold trophy on sturdy base, then hand it over.",
+    "Pick up the microphone with slider switch with the left arm, transfer to the right arm, stay away from the trophy with detailed top and base.",
+    "Take the white and teal sound microphone with the left arm, route it away from the gold and black prize cup, then hand it to the right arm.",
+    "Have the left arm grasp the long microphone with smooth teal grip, avoid the centerpiece gold trophy on sturdy base by 0.10m, and transfer the long microphone with smooth teal grip to the right arm.",
+    "With the left arm, take the textured white microphone head, keep distance from the medium-sized prize trophy, and give the textured white microphone head to the right arm.",
+    "Using the left arm, take the plastic teal microphone with slider and hand to the right arm, keeping 0.10m from the ornate gold cup.",
+    "Lift the white and teal sound microphone with the left arm, give the white and teal sound microphone to the right arm, keep clear of the gold trophy 0.10m.",
+    "Move the long microphone with smooth teal grip from the left arm to the right arm while keeping clear of the trophy with smooth polished finish.",
+    "Take the handheld teal microphone using the left arm, keep away from the centerpiece gold trophy on sturdy base, and pass to the right arm.",
+    "Pick up the compact teal and white microphone using the left arm, transfer to the right arm, keep 0.10m from the two-handled golden trophy.",
+    "Grab the long microphone with smooth teal grip, carry it around the trophy with two side handles with 0.10m clearance, then hand over.",
+    "Take the teal microphone with the left arm, hand over to the right arm, keep the teal microphone 0.10m away from the shiny gold trophy with black stand.",
+    "Have the left arm take the white and teal sound microphone, then the right arm takes the white and teal sound microphone, keep 0.10m from the trophy with two side handles.",
+    "Using the left arm, grab the sound microphone with teal body, keep 0.10m from the two-handled golden trophy, then give the sound microphone with teal body to the right arm.",
+    "Let the left arm grasp the long microphone with smooth teal grip, move it 0.10m from the two-handled golden trophy, then the right arm receives.",
+    "Use the left arm to lift the teal microphone, then give the teal microphone to the right arm, avoiding the trophy with detailed top and base by 0.10m.",
+    "Lift the sound microphone with teal body, keep it 0.10m away from the centerpiece gold trophy on sturdy base, then pass it across.",
+    "Pick up the handheld teal microphone, move it staying 0.10m from the ornate gold cup, then complete the handoff.",
+    "Get the white and teal sound microphone with the left arm, shift the white and teal sound microphone to the right arm, maintaining 0.10m from the gold and black prize cup.",
+    "With the left arm, grasp the white and teal sound microphone, then hand the white and teal sound microphone to the right arm, avoiding the medium-sized prize trophy.",
+    "Secure the handheld teal microphone, route it at least 0.10m from the gold and black prize cup, then hand it over.",
+    "Pick up the sound microphone with teal body with the left arm, transfer to the right arm, stay away from the award trophy with black platform.",
+    "Take the white and teal sound microphone with the left arm, route it away from the trophy with detailed top and base, then hand it to the right arm.",
+    "Have the left arm grasp the teal microphone, avoid the two-handled golden trophy by 0.10m, and transfer the teal microphone to the right arm.",
+    "With the left arm, take the plastic teal microphone with slider, keep distance from the centerpiece gold trophy on sturdy base, and give the plastic teal microphone with slider to the right arm.",
+    "Using the left arm, take the long microphone with smooth teal grip and hand to the right arm, keeping 0.10m from the medium-sized prize trophy."
+  ],
+  "unseen": [
+    "Use the left arm to grab the switchable microphone with teal body, then pass it to the right arm, avoiding the golden award cup.",
+    "Grab the teal microphone with white bottom with the left arm, hand it to the right arm, avoiding the golden award cup by 0.10m.",
+    "With the left arm, grab the switchable microphone with teal body, pass to the right arm, keeping the switchable microphone with teal body 0.10m from the golden award cup.",
+    "Use the left arm to grab the switchable microphone with teal body, pass to the right arm, keep the switchable microphone with teal body 0.10m from the golden award cup.",
+    "Grab the teal microphone with white bottom with the left arm, keep 0.10m from the smooth gold cup, hand to the right arm.",
+    "Pick up the long teal microphone with white grooves, avoid the smooth gold cup by 0.10m, pass the long teal microphone with white grooves from the left arm to the right arm.",
+    "Use the left arm to grab the long teal microphone with white grooves, then pass it to the right arm, avoiding the trophy cup with curved handles.",
+    "Grab the long teal microphone with white grooves with the left arm, hand it to the right arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "With the left arm, grab the long teal microphone with white grooves, pass to the right arm, keeping the long teal microphone with white grooves 0.10m from the golden award cup.",
+    "Use the left arm to grab the teal microphone with white bottom, pass to the right arm, keep the teal microphone with white bottom 0.10m from the smooth gold cup.",
+    "Grab the long teal microphone with white grooves with the left arm, keep 0.10m from the trophy cup with curved handles, hand to the right arm.",
+    "Pick up the teal microphone with white bottom, avoid the smooth gold cup by 0.10m, pass the teal microphone with white bottom from the left arm to the right arm.",
+    "Use the left arm to grab the switchable microphone with teal body, then pass it to the right arm, avoiding the golden award cup.",
+    "Grab the teal microphone with white bottom with the left arm, hand it to the right arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "With the left arm, grab the teal microphone with white bottom, pass to the right arm, keeping the teal microphone with white bottom 0.10m from the trophy cup with curved handles.",
+    "Use the left arm to grab the teal microphone with white bottom, pass to the right arm, keep the teal microphone with white bottom 0.10m from the smooth gold cup.",
+    "Grab the teal microphone with white bottom with the left arm, keep 0.10m from the trophy cup with curved handles, hand to the right arm.",
+    "Pick up the teal microphone with white bottom, avoid the smooth gold cup by 0.10m, pass the teal microphone with white bottom from the left arm to the right arm.",
+    "Use the left arm to grab the switchable microphone with teal body, then pass it to the right arm, avoiding the trophy cup with curved handles.",
+    "Grab the teal microphone with white bottom with the left arm, hand it to the right arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "With the left arm, grab the long teal microphone with white grooves, pass to the right arm, keeping the long teal microphone with white grooves 0.10m from the trophy cup with curved handles.",
+    "Use the left arm to grab the long teal microphone with white grooves, pass to the right arm, keep the long teal microphone with white grooves 0.10m from the golden award cup.",
+    "Grab the teal microphone with white bottom with the left arm, keep 0.10m from the trophy cup with curved handles, hand to the right arm.",
+    "Pick up the switchable microphone with teal body, avoid the smooth gold cup by 0.10m, pass the switchable microphone with teal body from the left arm to the right arm.",
+    "Use the left arm to grab the long teal microphone with white grooves, then pass it to the right arm, avoiding the golden award cup.",
+    "Grab the switchable microphone with teal body with the left arm, hand it to the right arm, avoiding the smooth gold cup by 0.10m.",
+    "With the left arm, grab the long teal microphone with white grooves, pass to the right arm, keeping the long teal microphone with white grooves 0.10m from the smooth gold cup.",
+    "Use the left arm to grab the teal microphone with white bottom, pass to the right arm, keep the teal microphone with white bottom 0.10m from the smooth gold cup.",
+    "Grab the long teal microphone with white grooves with the left arm, keep 0.10m from the golden award cup, hand to the right arm.",
+    "Pick up the teal microphone with white bottom, avoid the golden award cup by 0.10m, pass the teal microphone with white bottom from the left arm to the right arm.",
+    "Use the left arm to grab the long teal microphone with white grooves, then pass it to the right arm, avoiding the smooth gold cup.",
+    "Grab the long teal microphone with white grooves with the left arm, hand it to the right arm, avoiding the golden award cup by 0.10m.",
+    "With the left arm, grab the switchable microphone with teal body, pass to the right arm, keeping the switchable microphone with teal body 0.10m from the smooth gold cup.",
+    "Use the left arm to grab the long teal microphone with white grooves, pass to the right arm, keep the long teal microphone with white grooves 0.10m from the smooth gold cup.",
+    "Grab the long teal microphone with white grooves with the left arm, keep 0.10m from the trophy cup with curved handles, hand to the right arm.",
+    "Pick up the teal microphone with white bottom, avoid the trophy cup with curved handles by 0.10m, pass the teal microphone with white bottom from the left arm to the right arm.",
+    "Use the left arm to grab the long teal microphone with white grooves, then pass it to the right arm, avoiding the golden award cup.",
+    "Grab the long teal microphone with white grooves with the left arm, hand it to the right arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "With the left arm, grab the switchable microphone with teal body, pass to the right arm, keeping the switchable microphone with teal body 0.10m from the trophy cup with curved handles.",
+    "Use the left arm to grab the long teal microphone with white grooves, pass to the right arm, keep the long teal microphone with white grooves 0.10m from the smooth gold cup.",
+    "Grab the long teal microphone with white grooves with the left arm, keep 0.10m from the golden award cup, hand to the right arm.",
+    "Pick up the teal microphone with white bottom, avoid the trophy cup with curved handles by 0.10m, pass the teal microphone with white bottom from the left arm to the right arm.",
+    "Use the left arm to grab the switchable microphone with teal body, then pass it to the right arm, avoiding the trophy cup with curved handles.",
+    "Grab the long teal microphone with white grooves with the left arm, hand it to the right arm, avoiding the golden award cup by 0.10m.",
+    "With the left arm, grab the teal microphone with white bottom, pass to the right arm, keeping the teal microphone with white bottom 0.10m from the golden award cup.",
+    "Use the left arm to grab the switchable microphone with teal body, pass to the right arm, keep the switchable microphone with teal body 0.10m from the smooth gold cup.",
+    "Grab the switchable microphone with teal body with the left arm, keep 0.10m from the smooth gold cup, hand to the right arm.",
+    "Pick up the long teal microphone with white grooves, avoid the golden award cup by 0.10m, pass the long teal microphone with white grooves from the left arm to the right arm.",
+    "Use the left arm to grab the switchable microphone with teal body, then pass it to the right arm, avoiding the golden award cup.",
+    "Grab the long teal microphone with white grooves with the left arm, hand it to the right arm, avoiding the smooth gold cup by 0.10m.",
+    "With the left arm, grab the long teal microphone with white grooves, pass to the right arm, keeping the long teal microphone with white grooves 0.10m from the golden award cup.",
+    "Use the left arm to grab the long teal microphone with white grooves, pass to the right arm, keep the long teal microphone with white grooves 0.10m from the golden award cup.",
+    "Grab the switchable microphone with teal body with the left arm, keep 0.10m from the smooth gold cup, hand to the right arm.",
+    "Pick up the long teal microphone with white grooves, avoid the trophy cup with curved handles by 0.10m, pass the long teal microphone with white grooves from the left arm to the right arm.",
+    "Use the left arm to grab the switchable microphone with teal body, then pass it to the right arm, avoiding the golden award cup.",
+    "Grab the switchable microphone with teal body with the left arm, hand it to the right arm, avoiding the smooth gold cup by 0.10m.",
+    "With the left arm, grab the long teal microphone with white grooves, pass to the right arm, keeping the long teal microphone with white grooves 0.10m from the smooth gold cup.",
+    "Use the left arm to grab the switchable microphone with teal body, pass to the right arm, keep the switchable microphone with teal body 0.10m from the golden award cup.",
+    "Grab the switchable microphone with teal body with the left arm, keep 0.10m from the golden award cup, hand to the right arm.",
+    "Pick up the long teal microphone with white grooves, avoid the golden award cup by 0.10m, pass the long teal microphone with white grooves from the left arm to the right arm.",
+    "Use the left arm to grab the long teal microphone with white grooves, then pass it to the right arm, avoiding the trophy cup with curved handles.",
+    "Grab the teal microphone with white bottom with the left arm, hand it to the right arm, avoiding the golden award cup by 0.10m.",
+    "With the left arm, grab the switchable microphone with teal body, pass to the right arm, keeping the switchable microphone with teal body 0.10m from the trophy cup with curved handles.",
+    "Use the left arm to grab the switchable microphone with teal body, pass to the right arm, keep the switchable microphone with teal body 0.10m from the trophy cup with curved handles.",
+    "Grab the teal microphone with white bottom with the left arm, keep 0.10m from the smooth gold cup, hand to the right arm.",
+    "Pick up the teal microphone with white bottom, avoid the golden award cup by 0.10m, pass the teal microphone with white bottom from the left arm to the right arm.",
+    "Use the left arm to grab the teal microphone with white bottom, then pass it to the right arm, avoiding the trophy cup with curved handles.",
+    "Grab the long teal microphone with white grooves with the left arm, hand it to the right arm, avoiding the smooth gold cup by 0.10m.",
+    "With the left arm, grab the long teal microphone with white grooves, pass to the right arm, keeping the long teal microphone with white grooves 0.10m from the smooth gold cup.",
+    "Use the left arm to grab the switchable microphone with teal body, pass to the right arm, keep the switchable microphone with teal body 0.10m from the trophy cup with curved handles.",
+    "Grab the teal microphone with white bottom with the left arm, keep 0.10m from the smooth gold cup, hand to the right arm.",
+    "Pick up the switchable microphone with teal body, avoid the smooth gold cup by 0.10m, pass the switchable microphone with teal body from the left arm to the right arm.",
+    "Use the left arm to grab the switchable microphone with teal body, then pass it to the right arm, avoiding the trophy cup with curved handles.",
+    "Grab the teal microphone with white bottom with the left arm, hand it to the right arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "With the left arm, grab the teal microphone with white bottom, pass to the right arm, keeping the teal microphone with white bottom 0.10m from the golden award cup.",
+    "Use the left arm to grab the long teal microphone with white grooves, pass to the right arm, keep the long teal microphone with white grooves 0.10m from the golden award cup.",
+    "Grab the long teal microphone with white grooves with the left arm, keep 0.10m from the smooth gold cup, hand to the right arm.",
+    "Pick up the teal microphone with white bottom, avoid the golden award cup by 0.10m, pass the teal microphone with white bottom from the left arm to the right arm.",
+    "Use the left arm to grab the long teal microphone with white grooves, then pass it to the right arm, avoiding the trophy cup with curved handles.",
+    "Grab the long teal microphone with white grooves with the left arm, hand it to the right arm, avoiding the smooth gold cup by 0.10m.",
+    "With the left arm, grab the switchable microphone with teal body, pass to the right arm, keeping the switchable microphone with teal body 0.10m from the trophy cup with curved handles.",
+    "Use the left arm to grab the long teal microphone with white grooves, pass to the right arm, keep the long teal microphone with white grooves 0.10m from the trophy cup with curved handles.",
+    "Grab the teal microphone with white bottom with the left arm, keep 0.10m from the golden award cup, hand to the right arm.",
+    "Pick up the switchable microphone with teal body, avoid the smooth gold cup by 0.10m, pass the switchable microphone with teal body from the left arm to the right arm.",
+    "Use the left arm to grab the long teal microphone with white grooves, then pass it to the right arm, avoiding the trophy cup with curved handles.",
+    "Grab the teal microphone with white bottom with the left arm, hand it to the right arm, avoiding the golden award cup by 0.10m.",
+    "With the left arm, grab the switchable microphone with teal body, pass to the right arm, keeping the switchable microphone with teal body 0.10m from the smooth gold cup.",
+    "Use the left arm to grab the long teal microphone with white grooves, pass to the right arm, keep the long teal microphone with white grooves 0.10m from the smooth gold cup.",
+    "Grab the switchable microphone with teal body with the left arm, keep 0.10m from the trophy cup with curved handles, hand to the right arm.",
+    "Pick up the switchable microphone with teal body, avoid the smooth gold cup by 0.10m, pass the switchable microphone with teal body from the left arm to the right arm.",
+    "Use the left arm to grab the long teal microphone with white grooves, then pass it to the right arm, avoiding the smooth gold cup.",
+    "Grab the switchable microphone with teal body with the left arm, hand it to the right arm, avoiding the smooth gold cup by 0.10m.",
+    "With the left arm, grab the switchable microphone with teal body, pass to the right arm, keeping the switchable microphone with teal body 0.10m from the trophy cup with curved handles.",
+    "Use the left arm to grab the switchable microphone with teal body, pass to the right arm, keep the switchable microphone with teal body 0.10m from the trophy cup with curved handles.",
+    "Grab the switchable microphone with teal body with the left arm, keep 0.10m from the golden award cup, hand to the right arm.",
+    "Pick up the switchable microphone with teal body, avoid the golden award cup by 0.10m, pass the switchable microphone with teal body from the left arm to the right arm.",
+    "Use the left arm to grab the switchable microphone with teal body, then pass it to the right arm, avoiding the golden award cup.",
+    "Grab the switchable microphone with teal body with the left arm, hand it to the right arm, avoiding the smooth gold cup by 0.10m.",
+    "With the left arm, grab the switchable microphone with teal body, pass to the right arm, keeping the switchable microphone with teal body 0.10m from the smooth gold cup.",
+    "Use the left arm to grab the teal microphone with white bottom, pass to the right arm, keep the teal microphone with white bottom 0.10m from the smooth gold cup."
+  ]
+}
\ No newline at end of file
diff --git a/handover_mic_wp1/handover_mic_wp1/instructions/episode17.json b/handover_mic_wp1/handover_mic_wp1/instructions/episode17.json
new file mode 100644
index 0000000000000000000000000000000000000000..f12cb57e584fcc0fd1b4f2dc6303c8b517bcd38e
--- /dev/null
+++ b/handover_mic_wp1/handover_mic_wp1/instructions/episode17.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the small audio microphone with the right arm, transfer to the left arm, stay away from the gold trophy.",
+    "Let the right arm grasp the round head microphone, move it 0.10m from the trophy with detailed top and base, then the left arm receives.",
+    "Take the gray and dark blue microphone with the right arm, hand over to the left arm, keep the gray and dark blue microphone 0.10m away from the award trophy with black platform.",
+    "Using the right arm, take the gray and dark blue microphone and hand to the left arm, keeping 0.10m from the medium-sized prize trophy.",
+    "With the right arm, grasp the small audio microphone, then hand the small audio microphone to the left arm, avoiding the gold trophy.",
+    "Have the right arm take the gray stem microphone with foam top, then the left arm takes the gray stem microphone with foam top, keep 0.10m from the trophy with two side handles.",
+    "Take the small audio microphone with the right arm, route it away from the gold and black prize cup, then hand it to the left arm.",
+    "Move the microphone covered with foam tip from the right arm to the left arm while keeping clear of the trophy with detailed top and base.",
+    "Get the audio microphone with soft covering with the right arm, shift the audio microphone with soft covering to the left arm, maintaining 0.10m from the shiny gold trophy with black stand.",
+    "Pick up the microphone for recording sound, move it staying 0.10m from the award trophy with black platform, then complete the handoff.",
+    "Pick up the dark blue microphone using the right arm, transfer to the left arm, keep 0.10m from the gold trophy.",
+    "Have the right arm grasp the audio microphone with soft covering, avoid the shiny gold trophy with black stand by 0.10m, and transfer the audio microphone with soft covering to the left arm.",
+    "With the right arm, take the microphone for recording sound, keep distance from the trophy with smooth polished finish, and give the microphone for recording sound to the left arm.",
+    "Lift the small audio microphone, keep it 0.10m away from the trophy with two side handles, then pass it across.",
+    "Using the right arm, grab the microphone with round foam head, keep 0.10m from the trophy with detailed top and base, then give the microphone with round foam head to the left arm.",
+    "Take the microphone for recording sound using the right arm, keep away from the award trophy with black platform, and pass to the left arm.",
+    "Lift the round head microphone with the right arm, give the round head microphone to the left arm, keep clear of the gold trophy 0.10m.",
+    "Use the right arm to lift the medium microphone with two-tone color, then give the medium microphone with two-tone color to the left arm, avoiding the trophy with detailed top and base by 0.10m.",
+    "Grab the microphone with round foam head, carry it around the gold trophy with 0.10m clearance, then hand over.",
+    "Secure the gray stem microphone with foam top, route it at least 0.10m from the trophy with two side handles, then hand it over.",
+    "Pick up the audio microphone with soft covering with the right arm, transfer to the left arm, stay away from the shiny gold trophy with black stand.",
+    "Let the right arm grasp the gray and dark blue microphone, move it 0.10m from the gold and black prize cup, then the left arm receives.",
+    "Take the gray stem microphone with foam top with the right arm, hand over to the left arm, keep the gray stem microphone with foam top 0.10m away from the trophy with smooth polished finish.",
+    "Using the right arm, take the small audio microphone and hand to the left arm, keeping 0.10m from the gold trophy.",
+    "With the right arm, grasp the gray and dark blue microphone, then hand the gray and dark blue microphone to the left arm, avoiding the centerpiece gold trophy on sturdy base.",
+    "Have the right arm take the gray and dark blue microphone, then the left arm takes the gray and dark blue microphone, keep 0.10m from the award trophy with black platform.",
+    "Take the microphone with smooth gray stem with the right arm, route it away from the centerpiece gold trophy on sturdy base, then hand it to the left arm.",
+    "Move the microphone with round foam head from the right arm to the left arm while keeping clear of the trophy with smooth polished finish.",
+    "Get the medium microphone with two-tone color with the right arm, shift the medium microphone with two-tone color to the left arm, maintaining 0.10m from the trophy with detailed top and base.",
+    "Pick up the medium microphone with two-tone color, move it staying 0.10m from the gold trophy, then complete the handoff.",
+    "Pick up the gray and dark blue microphone using the right arm, transfer to the left arm, keep 0.10m from the award trophy with black platform.",
+    "Have the right arm grasp the audio microphone with soft covering, avoid the gold trophy by 0.10m, and transfer the audio microphone with soft covering to the left arm.",
+    "With the right arm, take the microphone covered with foam tip, keep distance from the medium-sized prize trophy, and give the microphone covered with foam tip to the left arm.",
+    "Lift the audio microphone with soft covering, keep it 0.10m away from the ornate gold cup, then pass it across.",
+    "Using the right arm, grab the medium microphone with two-tone color, keep 0.10m from the centerpiece gold trophy on sturdy base, then give the medium microphone with two-tone color to the left arm.",
+    "Take the round head microphone using the right arm, keep away from the centerpiece gold trophy on sturdy base, and pass to the left arm.",
+    "Lift the microphone covered with foam tip with the right arm, give the microphone covered with foam tip to the left arm, keep clear of the two-handled golden trophy 0.10m.",
+    "Use the right arm to lift the round head microphone, then give the round head microphone to the left arm, avoiding the trophy with smooth polished finish by 0.10m.",
+    "Grab the gray and dark blue microphone, carry it around the medium-sized prize trophy with 0.10m clearance, then hand over.",
+    "Secure the microphone with dark blue padding, route it at least 0.10m from the trophy with smooth polished finish, then hand it over.",
+    "Pick up the microphone covered with foam tip with the right arm, transfer to the left arm, stay away from the trophy with detailed top and base.",
+    "Let the right arm grasp the medium microphone with two-tone color, move it 0.10m from the gold and black prize cup, then the left arm receives.",
+    "Take the microphone with smooth gray stem with the right arm, hand over to the left arm, keep the microphone with smooth gray stem 0.10m away from the trophy with two side handles.",
+    "Using the right arm, take the gray stem microphone with foam top and hand to the left arm, keeping 0.10m from the gold and black prize cup.",
+    "With the right arm, grasp the microphone covered with foam tip, then hand the microphone covered with foam tip to the left arm, avoiding the ornate gold cup.",
+    "Have the right arm take the microphone with dark blue padding, then the left arm takes the microphone with dark blue padding, keep 0.10m from the gold and black prize cup.",
+    "Take the gray and dark blue microphone with the right arm, route it away from the award trophy with black platform, then hand it to the left arm.",
+    "Move the dark blue microphone from the right arm to the left arm while keeping clear of the ornate gold cup.",
+    "Get the medium microphone with two-tone color with the right arm, shift the medium microphone with two-tone color to the left arm, maintaining 0.10m from the ornate gold cup.",
+    "Pick up the gray stem microphone with foam top, move it staying 0.10m from the trophy with two side handles, then complete the handoff.",
+    "Pick up the medium microphone with two-tone color using the right arm, transfer to the left arm, keep 0.10m from the award trophy with black platform.",
+    "Have the right arm grasp the microphone with dark blue padding, avoid the ornate gold cup by 0.10m, and transfer the microphone with dark blue padding to the left arm.",
+    "With the right arm, take the gray and dark blue microphone, keep distance from the trophy with two side handles, and give the gray and dark blue microphone to the left arm.",
+    "Lift the gray stem microphone with foam top, keep it 0.10m away from the gold and black prize cup, then pass it across.",
+    "Using the right arm, grab the microphone covered with foam tip, keep 0.10m from the gold and black prize cup, then give the microphone covered with foam tip to the left arm.",
+    "Take the microphone with smooth gray stem using the right arm, keep away from the trophy with smooth polished finish, and pass to the left arm.",
+    "Lift the round head microphone with the right arm, give the round head microphone to the left arm, keep clear of the two-handled golden trophy 0.10m.",
+    "Use the right arm to lift the gray stem microphone with foam top, then give the gray stem microphone with foam top to the left arm, avoiding the medium-sized prize trophy by 0.10m.",
+    "Grab the dark blue microphone, carry it around the gold and black prize cup with 0.10m clearance, then hand over.",
+    "Secure the dark blue microphone, route it at least 0.10m from the award trophy with black platform, then hand it over.",
+    "Pick up the microphone with smooth gray stem with the right arm, transfer to the left arm, stay away from the gold trophy.",
+    "Let the right arm grasp the microphone for recording sound, move it 0.10m from the trophy with two side handles, then the left arm receives.",
+    "Take the microphone with round foam head with the right arm, hand over to the left arm, keep the microphone with round foam head 0.10m away from the gold and black prize cup.",
+    "Using the right arm, take the microphone with smooth gray stem and hand to the left arm, keeping 0.10m from the shiny gold trophy with black stand.",
+    "With the right arm, grasp the medium microphone with two-tone color, then hand the medium microphone with two-tone color to the left arm, avoiding the trophy with two side handles.",
+    "Have the right arm take the microphone with dark blue padding, then the left arm takes the microphone with dark blue padding, keep 0.10m from the gold cup on black base.",
+    "Take the medium microphone with two-tone color with the right arm, route it away from the gold trophy, then hand it to the left arm.",
+    "Move the microphone with smooth gray stem from the right arm to the left arm while keeping clear of the medium-sized prize trophy.",
+    "Get the microphone with round foam head with the right arm, shift the microphone with round foam head to the left arm, maintaining 0.10m from the ornate gold cup.",
+    "Pick up the dark blue microphone, move it staying 0.10m from the centerpiece gold trophy on sturdy base, then complete the handoff.",
+    "Pick up the microphone with dark blue padding using the right arm, transfer to the left arm, keep 0.10m from the trophy with smooth polished finish.",
+    "Have the right arm grasp the small audio microphone, avoid the trophy with detailed top and base by 0.10m, and transfer the small audio microphone to the left arm.",
+    "With the right arm, take the dark blue microphone, keep distance from the medium-sized prize trophy, and give the dark blue microphone to the left arm.",
+    "Lift the audio microphone with soft covering, keep it 0.10m away from the gold and black prize cup, then pass it across.",
+    "Using the right arm, grab the gray stem microphone with foam top, keep 0.10m from the gold cup on black base, then give the gray stem microphone with foam top to the left arm.",
+    "Take the dark blue microphone using the right arm, keep away from the trophy with smooth polished finish, and pass to the left arm.",
+    "Lift the microphone with round foam head with the right arm, give the microphone with round foam head to the left arm, keep clear of the shiny gold trophy with black stand 0.10m.",
+    "Use the right arm to lift the microphone covered with foam tip, then give the microphone covered with foam tip to the left arm, avoiding the trophy with smooth polished finish by 0.10m.",
+    "Grab the microphone covered with foam tip, carry it around the centerpiece gold trophy on sturdy base with 0.10m clearance, then hand over.",
+    "Secure the microphone with dark blue padding, route it at least 0.10m from the gold and black prize cup, then hand it over.",
+    "Pick up the microphone with smooth gray stem with the right arm, transfer to the left arm, stay away from the two-handled golden trophy.",
+    "Let the right arm grasp the microphone with smooth gray stem, move it 0.10m from the trophy with smooth polished finish, then the left arm receives.",
+    "Take the microphone with round foam head with the right arm, hand over to the left arm, keep the microphone with round foam head 0.10m away from the award trophy with black platform.",
+    "Using the right arm, take the audio microphone with soft covering and hand to the left arm, keeping 0.10m from the centerpiece gold trophy on sturdy base.",
+    "With the right arm, grasp the microphone with dark blue padding, then hand the microphone with dark blue padding to the left arm, avoiding the gold and black prize cup.",
+    "Have the right arm take the microphone for recording sound, then the left arm takes the microphone for recording sound, keep 0.10m from the award trophy with black platform.",
+    "Take the microphone for recording sound with the right arm, route it away from the award trophy with black platform, then hand it to the left arm.",
+    "Move the medium microphone with two-tone color from the right arm to the left arm while keeping clear of the medium-sized prize trophy.",
+    "Get the gray and dark blue microphone with the right arm, shift the gray and dark blue microphone to the left arm, maintaining 0.10m from the trophy with two side handles.",
+    "Pick up the gray and dark blue microphone, move it staying 0.10m from the gold and black prize cup, then complete the handoff.",
+    "Pick up the microphone covered with foam tip using the right arm, transfer to the left arm, keep 0.10m from the award trophy with black platform.",
+    "Have the right arm grasp the medium microphone with two-tone color, avoid the ornate gold cup by 0.10m, and transfer the medium microphone with two-tone color to the left arm.",
+    "With the right arm, take the microphone with dark blue padding, keep distance from the trophy with two side handles, and give the microphone with dark blue padding to the left arm.",
+    "Lift the gray stem microphone with foam top, keep it 0.10m away from the gold trophy, then pass it across.",
+    "Using the right arm, grab the medium microphone with two-tone color, keep 0.10m from the trophy with detailed top and base, then give the medium microphone with two-tone color to the left arm.",
+    "Take the microphone covered with foam tip using the right arm, keep away from the award trophy with black platform, and pass to the left arm.",
+    "Lift the microphone covered with foam tip with the right arm, give the microphone covered with foam tip to the left arm, keep clear of the trophy with detailed top and base 0.10m.",
+    "Use the right arm to lift the gray stem microphone with foam top, then give the gray stem microphone with foam top to the left arm, avoiding the gold and black prize cup by 0.10m.",
+    "Grab the microphone with round foam head, carry it around the two-handled golden trophy with 0.10m clearance, then hand over.",
+    "Secure the medium microphone with two-tone color, route it at least 0.10m from the trophy with smooth polished finish, then hand it over."
+  ],
+  "unseen": [
+    "Grab the handheld microphone with the right arm, keep 0.10m from the smooth gold cup, hand to the left arm.",
+    "Use the right arm to grab the compact microphone with two parts, pass to the left arm, keep the compact microphone with two parts 0.10m from the smooth gold cup.",
+    "Use the right arm to grab the microphone with cylindrical handle, then pass it to the left arm, avoiding the trophy cup with curved handles.",
+    "Grab the handheld microphone with the right arm, hand it to the left arm, avoiding the golden award cup by 0.10m.",
+    "Pick up the handheld microphone, avoid the trophy cup with curved handles by 0.10m, pass the handheld microphone from the right arm to the left arm.",
+    "With the right arm, grab the microphone with cylindrical handle, pass to the left arm, keeping the microphone with cylindrical handle 0.10m from the trophy cup with curved handles.",
+    "Grab the compact microphone with two parts with the right arm, keep 0.10m from the trophy cup with curved handles, hand to the left arm.",
+    "Use the right arm to grab the microphone with cylindrical handle, pass to the left arm, keep the microphone with cylindrical handle 0.10m from the smooth gold cup.",
+    "Use the right arm to grab the microphone with cylindrical handle, then pass it to the left arm, avoiding the golden award cup.",
+    "Grab the compact microphone with two parts with the right arm, hand it to the left arm, avoiding the smooth gold cup by 0.10m.",
+    "Pick up the microphone with cylindrical handle, avoid the golden award cup by 0.10m, pass the microphone with cylindrical handle from the right arm to the left arm.",
+    "With the right arm, grab the handheld microphone, pass to the left arm, keeping the handheld microphone 0.10m from the smooth gold cup.",
+    "Grab the handheld microphone with the right arm, keep 0.10m from the golden award cup, hand to the left arm.",
+    "Use the right arm to grab the microphone with cylindrical handle, pass to the left arm, keep the microphone with cylindrical handle 0.10m from the trophy cup with curved handles.",
+    "Use the right arm to grab the microphone with cylindrical handle, then pass it to the left arm, avoiding the smooth gold cup.",
+    "Grab the handheld microphone with the right arm, hand it to the left arm, avoiding the golden award cup by 0.10m.",
+    "Pick up the handheld microphone, avoid the golden award cup by 0.10m, pass the handheld microphone from the right arm to the left arm.",
+    "With the right arm, grab the microphone with cylindrical handle, pass to the left arm, keeping the microphone with cylindrical handle 0.10m from the golden award cup.",
+    "Grab the handheld microphone with the right arm, keep 0.10m from the golden award cup, hand to the left arm.",
+    "Use the right arm to grab the handheld microphone, pass to the left arm, keep the handheld microphone 0.10m from the trophy cup with curved handles.",
+    "Use the right arm to grab the microphone with cylindrical handle, then pass it to the left arm, avoiding the golden award cup.",
+    "Grab the handheld microphone with the right arm, hand it to the left arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Pick up the handheld microphone, avoid the trophy cup with curved handles by 0.10m, pass the handheld microphone from the right arm to the left arm.",
+    "With the right arm, grab the handheld microphone, pass to the left arm, keeping the handheld microphone 0.10m from the smooth gold cup.",
+    "Grab the microphone with cylindrical handle with the right arm, keep 0.10m from the trophy cup with curved handles, hand to the left arm.",
+    "Use the right arm to grab the compact microphone with two parts, pass to the left arm, keep the compact microphone with two parts 0.10m from the smooth gold cup.",
+    "Use the right arm to grab the compact microphone with two parts, then pass it to the left arm, avoiding the smooth gold cup.",
+    "Grab the handheld microphone with the right arm, hand it to the left arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Pick up the handheld microphone, avoid the smooth gold cup by 0.10m, pass the handheld microphone from the right arm to the left arm.",
+    "With the right arm, grab the handheld microphone, pass to the left arm, keeping the handheld microphone 0.10m from the trophy cup with curved handles.",
+    "Grab the compact microphone with two parts with the right arm, keep 0.10m from the smooth gold cup, hand to the left arm.",
+    "Use the right arm to grab the microphone with cylindrical handle, pass to the left arm, keep the microphone with cylindrical handle 0.10m from the trophy cup with curved handles.",
+    "Use the right arm to grab the microphone with cylindrical handle, then pass it to the left arm, avoiding the golden award cup.",
+    "Grab the handheld microphone with the right arm, hand it to the left arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Pick up the compact microphone with two parts, avoid the trophy cup with curved handles by 0.10m, pass the compact microphone with two parts from the right arm to the left arm.",
+    "With the right arm, grab the microphone with cylindrical handle, pass to the left arm, keeping the microphone with cylindrical handle 0.10m from the golden award cup.",
+    "Grab the compact microphone with two parts with the right arm, keep 0.10m from the golden award cup, hand to the left arm.",
+    "Use the right arm to grab the microphone with cylindrical handle, pass to the left arm, keep the microphone with cylindrical handle 0.10m from the smooth gold cup.",
+    "Use the right arm to grab the handheld microphone, then pass it to the left arm, avoiding the smooth gold cup.",
+    "Grab the microphone with cylindrical handle with the right arm, hand it to the left arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Pick up the microphone with cylindrical handle, avoid the trophy cup with curved handles by 0.10m, pass the microphone with cylindrical handle from the right arm to the left arm.",
+    "With the right arm, grab the microphone with cylindrical handle, pass to the left arm, keeping the microphone with cylindrical handle 0.10m from the trophy cup with curved handles.",
+    "Grab the compact microphone with two parts with the right arm, keep 0.10m from the smooth gold cup, hand to the left arm.",
+    "Use the right arm to grab the microphone with cylindrical handle, pass to the left arm, keep the microphone with cylindrical handle 0.10m from the golden award cup.",
+    "Use the right arm to grab the compact microphone with two parts, then pass it to the left arm, avoiding the trophy cup with curved handles.",
+    "Grab the handheld microphone with the right arm, hand it to the left arm, avoiding the golden award cup by 0.10m.",
+    "Pick up the handheld microphone, avoid the trophy cup with curved handles by 0.10m, pass the handheld microphone from the right arm to the left arm.",
+    "With the right arm, grab the compact microphone with two parts, pass to the left arm, keeping the compact microphone with two parts 0.10m from the smooth gold cup.",
+    "Grab the microphone with cylindrical handle with the right arm, keep 0.10m from the trophy cup with curved handles, hand to the left arm.",
+    "Use the right arm to grab the microphone with cylindrical handle, pass to the left arm, keep the microphone with cylindrical handle 0.10m from the trophy cup with curved handles.",
+    "Use the right arm to grab the handheld microphone, then pass it to the left arm, avoiding the golden award cup.",
+    "Grab the microphone with cylindrical handle with the right arm, hand it to the left arm, avoiding the golden award cup by 0.10m.",
+    "Pick up the microphone with cylindrical handle, avoid the golden award cup by 0.10m, pass the microphone with cylindrical handle from the right arm to the left arm.",
+    "With the right arm, grab the handheld microphone, pass to the left arm, keeping the handheld microphone 0.10m from the smooth gold cup.",
+    "Grab the handheld microphone with the right arm, keep 0.10m from the trophy cup with curved handles, hand to the left arm.",
+    "Use the right arm to grab the microphone with cylindrical handle, pass to the left arm, keep the microphone with cylindrical handle 0.10m from the smooth gold cup.",
+    "Use the right arm to grab the compact microphone with two parts, then pass it to the left arm, avoiding the smooth gold cup.",
+    "Grab the microphone with cylindrical handle with the right arm, hand it to the left arm, avoiding the smooth gold cup by 0.10m.",
+    "Pick up the microphone with cylindrical handle, avoid the smooth gold cup by 0.10m, pass the microphone with cylindrical handle from the right arm to the left arm.",
+    "With the right arm, grab the compact microphone with two parts, pass to the left arm, keeping the compact microphone with two parts 0.10m from the trophy cup with curved handles.",
+    "Grab the microphone with cylindrical handle with the right arm, keep 0.10m from the golden award cup, hand to the left arm.",
+    "Use the right arm to grab the microphone with cylindrical handle, pass to the left arm, keep the microphone with cylindrical handle 0.10m from the trophy cup with curved handles.",
+    "Use the right arm to grab the compact microphone with two parts, then pass it to the left arm, avoiding the golden award cup.",
+    "Grab the compact microphone with two parts with the right arm, hand it to the left arm, avoiding the smooth gold cup by 0.10m.",
+    "Pick up the compact microphone with two parts, avoid the trophy cup with curved handles by 0.10m, pass the compact microphone with two parts from the right arm to the left arm.",
+    "With the right arm, grab the microphone with cylindrical handle, pass to the left arm, keeping the microphone with cylindrical handle 0.10m from the golden award cup.",
+    "Grab the handheld microphone with the right arm, keep 0.10m from the trophy cup with curved handles, hand to the left arm.",
+    "Use the right arm to grab the microphone with cylindrical handle, pass to the left arm, keep the microphone with cylindrical handle 0.10m from the golden award cup.",
+    "Use the right arm to grab the microphone with cylindrical handle, then pass it to the left arm, avoiding the golden award cup.",
+    "Grab the compact microphone with two parts with the right arm, hand it to the left arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Pick up the handheld microphone, avoid the trophy cup with curved handles by 0.10m, pass the handheld microphone from the right arm to the left arm.",
+    "With the right arm, grab the handheld microphone, pass to the left arm, keeping the handheld microphone 0.10m from the smooth gold cup.",
+    "Grab the handheld microphone with the right arm, keep 0.10m from the trophy cup with curved handles, hand to the left arm.",
+    "Use the right arm to grab the microphone with cylindrical handle, pass to the left arm, keep the microphone with cylindrical handle 0.10m from the trophy cup with curved handles.",
+    "Use the right arm to grab the compact microphone with two parts, then pass it to the left arm, avoiding the smooth gold cup.",
+    "Grab the microphone with cylindrical handle with the right arm, hand it to the left arm, avoiding the golden award cup by 0.10m.",
+    "Pick up the handheld microphone, avoid the smooth gold cup by 0.10m, pass the handheld microphone from the right arm to the left arm.",
+    "With the right arm, grab the microphone with cylindrical handle, pass to the left arm, keeping the microphone with cylindrical handle 0.10m from the smooth gold cup.",
+    "Grab the compact microphone with two parts with the right arm, keep 0.10m from the golden award cup, hand to the left arm.",
+    "Use the right arm to grab the compact microphone with two parts, pass to the left arm, keep the compact microphone with two parts 0.10m from the trophy cup with curved handles.",
+    "Use the right arm to grab the handheld microphone, then pass it to the left arm, avoiding the golden award cup.",
+    "Grab the handheld microphone with the right arm, hand it to the left arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Pick up the handheld microphone, avoid the golden award cup by 0.10m, pass the handheld microphone from the right arm to the left arm.",
+    "With the right arm, grab the handheld microphone, pass to the left arm, keeping the handheld microphone 0.10m from the smooth gold cup.",
+    "Grab the microphone with cylindrical handle with the right arm, keep 0.10m from the smooth gold cup, hand to the left arm.",
+    "Use the right arm to grab the compact microphone with two parts, pass to the left arm, keep the compact microphone with two parts 0.10m from the trophy cup with curved handles.",
+    "Use the right arm to grab the microphone with cylindrical handle, then pass it to the left arm, avoiding the trophy cup with curved handles.",
+    "Grab the compact microphone with two parts with the right arm, hand it to the left arm, avoiding the smooth gold cup by 0.10m.",
+    "Pick up the microphone with cylindrical handle, avoid the golden award cup by 0.10m, pass the microphone with cylindrical handle from the right arm to the left arm.",
+    "With the right arm, grab the microphone with cylindrical handle, pass to the left arm, keeping the microphone with cylindrical handle 0.10m from the trophy cup with curved handles.",
+    "Grab the compact microphone with two parts with the right arm, keep 0.10m from the smooth gold cup, hand to the left arm.",
+    "Use the right arm to grab the compact microphone with two parts, pass to the left arm, keep the compact microphone with two parts 0.10m from the smooth gold cup.",
+    "Use the right arm to grab the compact microphone with two parts, then pass it to the left arm, avoiding the smooth gold cup.",
+    "Grab the compact microphone with two parts with the right arm, hand it to the left arm, avoiding the golden award cup by 0.10m.",
+    "Pick up the compact microphone with two parts, avoid the smooth gold cup by 0.10m, pass the compact microphone with two parts from the right arm to the left arm.",
+    "With the right arm, grab the compact microphone with two parts, pass to the left arm, keeping the compact microphone with two parts 0.10m from the smooth gold cup.",
+    "Grab the handheld microphone with the right arm, keep 0.10m from the smooth gold cup, hand to the left arm.",
+    "Use the right arm to grab the microphone with cylindrical handle, pass to the left arm, keep the microphone with cylindrical handle 0.10m from the smooth gold cup.",
+    "Use the right arm to grab the compact microphone with two parts, then pass it to the left arm, avoiding the trophy cup with curved handles.",
+    "Grab the compact microphone with two parts with the right arm, hand it to the left arm, avoiding the trophy cup with curved handles by 0.10m."
+  ]
+}
\ No newline at end of file
diff --git a/handover_mic_wp1/handover_mic_wp1/instructions/episode18.json b/handover_mic_wp1/handover_mic_wp1/instructions/episode18.json
new file mode 100644
index 0000000000000000000000000000000000000000..44b20904ee5d39e262b2c9a589ba4de1bbd49ba7
--- /dev/null
+++ b/handover_mic_wp1/handover_mic_wp1/instructions/episode18.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the microphone with cylindrical handle with the right arm, transfer to the left arm, stay away from the shiny gold cup with black stand.",
+    "Use the right arm to lift the microphone with black tip and white body, then give the microphone with black tip and white body to the left arm, avoiding the trophy with curved handles by 0.10m.",
+    "Lift the white microphone handle black accents, keep it 0.10m away from the trophy with curved handles, then pass it across.",
+    "Secure the black and white microphone, route it at least 0.10m from the cup-shaped trophy, then hand it over.",
+    "Have the right arm grasp the compact size microphone, avoid the shiny gold cup with black stand by 0.10m, and transfer the compact size microphone to the left arm.",
+    "Take the compact size microphone with the right arm, route it away from the decorative trophy with shiny finish, then hand it to the left arm.",
+    "Get the white microphone handle black accents with the right arm, shift the white microphone handle black accents to the left arm, maintaining 0.10m from the smooth gold cup with sturdy pedestal.",
+    "Pick up the microphone for voice recording, move it staying 0.10m from the medium trophy with pedestal base, then complete the handoff.",
+    "With the right arm, take the metal head microphone, keep distance from the gold-colored prize cup with solid base, and give the metal head microphone to the left arm.",
+    "Using the right arm, grab the microphone with textured metal head, keep 0.10m from the award trophy, then give the microphone with textured metal head to the left arm.",
+    "Have the right arm take the microphone with textured metal head, then the left arm takes the microphone with textured metal head, keep 0.10m from the trophy with curved handles.",
+    "Pick up the smooth plastic microphone handle using the right arm, transfer to the left arm, keep 0.10m from the shiny gold cup with black stand.",
+    "Let the right arm grasp the metal head microphone, move it 0.10m from the trophy cup, then the left arm receives.",
+    "Take the metal head microphone with the right arm, hand over to the left arm, keep the metal head microphone 0.10m away from the smooth gold cup with sturdy pedestal.",
+    "Lift the microphone with textured metal head with the right arm, give the microphone with textured metal head to the left arm, keep clear of the decorative trophy with shiny finish 0.10m.",
+    "Grab the handheld microphone, carry it around the gold trophy with 0.10m clearance, then hand over.",
+    "Using the right arm, take the black and white microphone and hand to the left arm, keeping 0.10m from the cup-shaped trophy.",
+    "Take the microphone with textured metal head using the right arm, keep away from the trophy cup, and pass to the left arm.",
+    "Move the microphone with rounded mesh head from the right arm to the left arm while keeping clear of the gold trophy.",
+    "With the right arm, grasp the handheld microphone, then hand the handheld microphone to the left arm, avoiding the trophy with curved handles.",
+    "Pick up the microphone with textured metal head with the right arm, transfer to the left arm, stay away from the award trophy.",
+    "Use the right arm to lift the microphone with rounded mesh head, then give the microphone with rounded mesh head to the left arm, avoiding the medium trophy with pedestal base by 0.10m.",
+    "Lift the handheld microphone, keep it 0.10m away from the trophy with smooth golden surface, then pass it across.",
+    "Secure the handheld microphone, route it at least 0.10m from the trophy with smooth golden surface, then hand it over.",
+    "Have the right arm grasp the handheld microphone, avoid the gold prize cup by 0.10m, and transfer the handheld microphone to the left arm.",
+    "Take the compact size microphone with the right arm, route it away from the trophy cup, then hand it to the left arm.",
+    "Get the microphone with cylindrical handle with the right arm, shift the microphone with cylindrical handle to the left arm, maintaining 0.10m from the award trophy.",
+    "Pick up the microphone for voice recording, move it staying 0.10m from the smooth gold cup with sturdy pedestal, then complete the handoff.",
+    "With the right arm, take the mesh-patterned microphone head, keep distance from the cup-shaped trophy, and give the mesh-patterned microphone head to the left arm.",
+    "Using the right arm, grab the microphone with cylindrical handle, keep 0.10m from the smooth gold cup with sturdy pedestal, then give the microphone with cylindrical handle to the left arm.",
+    "Have the right arm take the microphone with black tip and white body, then the left arm takes the microphone with black tip and white body, keep 0.10m from the decorative trophy with shiny finish.",
+    "Pick up the black and white microphone using the right arm, transfer to the left arm, keep 0.10m from the trophy with smooth golden surface.",
+    "Let the right arm grasp the metal head microphone, move it 0.10m from the gold trophy, then the left arm receives.",
+    "Take the microphone with black tip and white body with the right arm, hand over to the left arm, keep the microphone with black tip and white body 0.10m away from the medium trophy with pedestal base.",
+    "Lift the handheld microphone with the right arm, give the handheld microphone to the left arm, keep clear of the trophy with smooth golden surface 0.10m.",
+    "Grab the microphone with rounded mesh head, carry it around the decorative trophy with shiny finish with 0.10m clearance, then hand over.",
+    "Using the right arm, take the microphone with black tip and white body and hand to the left arm, keeping 0.10m from the award trophy.",
+    "Take the microphone for voice recording using the right arm, keep away from the gold prize cup, and pass to the left arm.",
+    "Move the mesh-patterned microphone head from the right arm to the left arm while keeping clear of the medium trophy with pedestal base.",
+    "With the right arm, grasp the microphone with cylindrical handle, then hand the microphone with cylindrical handle to the left arm, avoiding the gold prize cup.",
+    "Pick up the compact size microphone with the right arm, transfer to the left arm, stay away from the trophy with curved handles.",
+    "Use the right arm to lift the mesh-patterned microphone head, then give the mesh-patterned microphone head to the left arm, avoiding the gold-colored prize cup with solid base by 0.10m.",
+    "Lift the mesh-patterned microphone head, keep it 0.10m away from the award trophy, then pass it across.",
+    "Secure the microphone with textured metal head, route it at least 0.10m from the smooth gold cup with sturdy pedestal, then hand it over.",
+    "Have the right arm grasp the mesh-patterned microphone head, avoid the smooth gold cup with sturdy pedestal by 0.10m, and transfer the mesh-patterned microphone head to the left arm.",
+    "Take the microphone with black tip and white body with the right arm, route it away from the trophy with smooth golden surface, then hand it to the left arm.",
+    "Get the microphone for voice recording with the right arm, shift the microphone for voice recording to the left arm, maintaining 0.10m from the trophy with smooth golden surface.",
+    "Pick up the microphone with black tip and white body, move it staying 0.10m from the gold prize cup, then complete the handoff.",
+    "With the right arm, take the white microphone handle black accents, keep distance from the trophy with curved handles, and give the white microphone handle black accents to the left arm.",
+    "Using the right arm, grab the microphone with black tip and white body, keep 0.10m from the shiny gold cup with black stand, then give the microphone with black tip and white body to the left arm.",
+    "Have the right arm take the microphone for voice recording, then the left arm takes the microphone for voice recording, keep 0.10m from the smooth gold cup with sturdy pedestal.",
+    "Pick up the microphone for voice recording using the right arm, transfer to the left arm, keep 0.10m from the trophy with smooth golden surface.",
+    "Let the right arm grasp the microphone with rounded mesh head, move it 0.10m from the shiny gold cup with black stand, then the left arm receives.",
+    "Take the mesh-patterned microphone head with the right arm, hand over to the left arm, keep the mesh-patterned microphone head 0.10m away from the gold prize cup.",
+    "Lift the microphone with rounded mesh head with the right arm, give the microphone with rounded mesh head to the left arm, keep clear of the smooth gold cup with sturdy pedestal 0.10m.",
+    "Grab the handheld microphone, carry it around the trophy cup with 0.10m clearance, then hand over.",
+    "Using the right arm, take the black and white microphone and hand to the left arm, keeping 0.10m from the shiny gold cup with black stand.",
+    "Take the handheld microphone using the right arm, keep away from the gold prize cup, and pass to the left arm.",
+    "Move the black and white microphone from the right arm to the left arm while keeping clear of the gold-colored prize cup with solid base.",
+    "With the right arm, grasp the black and white microphone, then hand the black and white microphone to the left arm, avoiding the shiny gold cup with black stand.",
+    "Pick up the black and white microphone with the right arm, transfer to the left arm, stay away from the gold prize cup.",
+    "Use the right arm to lift the microphone with textured metal head, then give the microphone with textured metal head to the left arm, avoiding the medium trophy with pedestal base by 0.10m.",
+    "Lift the microphone with cylindrical handle, keep it 0.10m away from the trophy with smooth golden surface, then pass it across.",
+    "Secure the smooth plastic microphone handle, route it at least 0.10m from the trophy with curved handles, then hand it over.",
+    "Have the right arm grasp the metal head microphone, avoid the decorative trophy with shiny finish by 0.10m, and transfer the metal head microphone to the left arm.",
+    "Take the microphone with textured metal head with the right arm, route it away from the shiny gold cup with black stand, then hand it to the left arm.",
+    "Get the metal head microphone with the right arm, shift the metal head microphone to the left arm, maintaining 0.10m from the gold-colored prize cup with solid base.",
+    "Pick up the microphone with black tip and white body, move it staying 0.10m from the shiny gold cup with black stand, then complete the handoff.",
+    "With the right arm, take the mesh-patterned microphone head, keep distance from the trophy with curved handles, and give the mesh-patterned microphone head to the left arm.",
+    "Using the right arm, grab the microphone with rounded mesh head, keep 0.10m from the cup-shaped trophy, then give the microphone with rounded mesh head to the left arm.",
+    "Have the right arm take the microphone with black tip and white body, then the left arm takes the microphone with black tip and white body, keep 0.10m from the gold prize cup.",
+    "Pick up the microphone with rounded mesh head using the right arm, transfer to the left arm, keep 0.10m from the trophy cup.",
+    "Let the right arm grasp the black and white microphone, move it 0.10m from the decorative trophy with shiny finish, then the left arm receives.",
+    "Take the microphone with rounded mesh head with the right arm, hand over to the left arm, keep the microphone with rounded mesh head 0.10m away from the decorative trophy with shiny finish.",
+    "Lift the compact size microphone with the right arm, give the compact size microphone to the left arm, keep clear of the gold prize cup 0.10m.",
+    "Grab the microphone with rounded mesh head, carry it around the decorative trophy with shiny finish with 0.10m clearance, then hand over.",
+    "Using the right arm, take the microphone with cylindrical handle and hand to the left arm, keeping 0.10m from the smooth gold cup with sturdy pedestal.",
+    "Take the microphone with rounded mesh head using the right arm, keep away from the smooth gold cup with sturdy pedestal, and pass to the left arm.",
+    "Move the microphone with cylindrical handle from the right arm to the left arm while keeping clear of the trophy cup.",
+    "With the right arm, grasp the metal head microphone, then hand the metal head microphone to the left arm, avoiding the medium trophy with pedestal base.",
+    "Pick up the smooth plastic microphone handle with the right arm, transfer to the left arm, stay away from the smooth gold cup with sturdy pedestal.",
+    "Use the right arm to lift the metal head microphone, then give the metal head microphone to the left arm, avoiding the medium trophy with pedestal base by 0.10m.",
+    "Lift the smooth plastic microphone handle, keep it 0.10m away from the gold trophy, then pass it across.",
+    "Secure the microphone with rounded mesh head, route it at least 0.10m from the trophy with smooth golden surface, then hand it over.",
+    "Have the right arm grasp the microphone for voice recording, avoid the smooth gold cup with sturdy pedestal by 0.10m, and transfer the microphone for voice recording to the left arm.",
+    "Take the microphone for voice recording with the right arm, route it away from the shiny gold cup with black stand, then hand it to the left arm.",
+    "Get the mesh-patterned microphone head with the right arm, shift the mesh-patterned microphone head to the left arm, maintaining 0.10m from the trophy with smooth golden surface.",
+    "Pick up the black and white microphone, move it staying 0.10m from the gold-colored prize cup with solid base, then complete the handoff.",
+    "With the right arm, take the microphone with textured metal head, keep distance from the cup-shaped trophy, and give the microphone with textured metal head to the left arm.",
+    "Using the right arm, grab the black and white microphone, keep 0.10m from the shiny gold cup with black stand, then give the black and white microphone to the left arm.",
+    "Have the right arm take the microphone with rounded mesh head, then the left arm takes the microphone with rounded mesh head, keep 0.10m from the trophy with smooth golden surface.",
+    "Pick up the smooth plastic microphone handle using the right arm, transfer to the left arm, keep 0.10m from the gold-colored prize cup with solid base.",
+    "Let the right arm grasp the black and white microphone, move it 0.10m from the gold trophy, then the left arm receives.",
+    "Take the white microphone handle black accents with the right arm, hand over to the left arm, keep the white microphone handle black accents 0.10m away from the smooth gold cup with sturdy pedestal.",
+    "Lift the microphone with black tip and white body with the right arm, give the microphone with black tip and white body to the left arm, keep clear of the gold trophy 0.10m.",
+    "Grab the mesh-patterned microphone head, carry it around the gold prize cup with 0.10m clearance, then hand over.",
+    "Using the right arm, take the mesh-patterned microphone head and hand to the left arm, keeping 0.10m from the trophy with smooth golden surface.",
+    "Take the microphone for voice recording using the right arm, keep away from the smooth gold cup with sturdy pedestal, and pass to the left arm.",
+    "Move the compact size microphone from the right arm to the left arm while keeping clear of the decorative trophy with shiny finish.",
+    "With the right arm, grasp the mesh-patterned microphone head, then hand the mesh-patterned microphone head to the left arm, avoiding the trophy cup."
+  ],
+  "unseen": [
+    "Grab the black and white plastic microphone with the right arm, keep 0.10m from the golden cup with black base, hand to the left arm.",
+    "Use the right arm to grab the black and white plastic microphone, pass to the left arm, keep the black and white plastic microphone 0.10m from the golden cup with black base.",
+    "Use the right arm to grab the lightweight handheld microphone, then pass it to the left arm, avoiding the gold cup with side handles.",
+    "Pick up the black and white plastic microphone, avoid the golden cup with black base by 0.10m, pass the black and white plastic microphone from the right arm to the left arm.",
+    "Grab the black and white plastic microphone with the right arm, hand it to the left arm, avoiding the golden cup with black base by 0.10m.",
+    "With the right arm, grab the microphone used for audio input, pass to the left arm, keeping the microphone used for audio input 0.10m from the golden award with rectangular black base.",
+    "Grab the microphone used for audio input with the right arm, keep 0.10m from the gold cup with side handles, hand to the left arm.",
+    "Use the right arm to grab the microphone used for audio input, pass to the left arm, keep the microphone used for audio input 0.10m from the golden award with rectangular black base.",
+    "Use the right arm to grab the lightweight handheld microphone, then pass it to the left arm, avoiding the golden award with rectangular black base.",
+    "Pick up the microphone used for audio input, avoid the golden cup with black base by 0.10m, pass the microphone used for audio input from the right arm to the left arm.",
+    "Grab the lightweight handheld microphone with the right arm, hand it to the left arm, avoiding the golden cup with black base by 0.10m.",
+    "With the right arm, grab the black and white plastic microphone, pass to the left arm, keeping the black and white plastic microphone 0.10m from the golden award with rectangular black base.",
+    "Grab the lightweight handheld microphone with the right arm, keep 0.10m from the golden cup with black base, hand to the left arm.",
+    "Use the right arm to grab the black and white plastic microphone, pass to the left arm, keep the black and white plastic microphone 0.10m from the golden cup with black base.",
+    "Use the right arm to grab the lightweight handheld microphone, then pass it to the left arm, avoiding the golden cup with black base.",
+    "Pick up the microphone used for audio input, avoid the gold cup with side handles by 0.10m, pass the microphone used for audio input from the right arm to the left arm.",
+    "Grab the microphone used for audio input with the right arm, hand it to the left arm, avoiding the golden award with rectangular black base by 0.10m.",
+    "With the right arm, grab the microphone used for audio input, pass to the left arm, keeping the microphone used for audio input 0.10m from the gold cup with side handles.",
+    "Grab the lightweight handheld microphone with the right arm, keep 0.10m from the golden award with rectangular black base, hand to the left arm.",
+    "Use the right arm to grab the black and white plastic microphone, pass to the left arm, keep the black and white plastic microphone 0.10m from the golden cup with black base.",
+    "Use the right arm to grab the microphone used for audio input, then pass it to the left arm, avoiding the golden cup with black base.",
+    "Pick up the lightweight handheld microphone, avoid the golden award with rectangular black base by 0.10m, pass the lightweight handheld microphone from the right arm to the left arm.",
+    "Grab the microphone used for audio input with the right arm, hand it to the left arm, avoiding the gold cup with side handles by 0.10m.",
+    "With the right arm, grab the lightweight handheld microphone, pass to the left arm, keeping the lightweight handheld microphone 0.10m from the gold cup with side handles.",
+    "Grab the lightweight handheld microphone with the right arm, keep 0.10m from the gold cup with side handles, hand to the left arm.",
+    "Use the right arm to grab the black and white plastic microphone, pass to the left arm, keep the black and white plastic microphone 0.10m from the golden award with rectangular black base.",
+    "Use the right arm to grab the lightweight handheld microphone, then pass it to the left arm, avoiding the golden cup with black base.",
+    "Pick up the black and white plastic microphone, avoid the gold cup with side handles by 0.10m, pass the black and white plastic microphone from the right arm to the left arm.",
+    "Grab the black and white plastic microphone with the right arm, hand it to the left arm, avoiding the gold cup with side handles by 0.10m.",
+    "With the right arm, grab the lightweight handheld microphone, pass to the left arm, keeping the lightweight handheld microphone 0.10m from the golden cup with black base.",
+    "Grab the lightweight handheld microphone with the right arm, keep 0.10m from the gold cup with side handles, hand to the left arm.",
+    "Use the right arm to grab the lightweight handheld microphone, pass to the left arm, keep the lightweight handheld microphone 0.10m from the golden cup with black base.",
+    "Use the right arm to grab the lightweight handheld microphone, then pass it to the left arm, avoiding the golden award with rectangular black base.",
+    "Pick up the lightweight handheld microphone, avoid the golden award with rectangular black base by 0.10m, pass the lightweight handheld microphone from the right arm to the left arm.",
+    "Grab the lightweight handheld microphone with the right arm, hand it to the left arm, avoiding the golden cup with black base by 0.10m.",
+    "With the right arm, grab the black and white plastic microphone, pass to the left arm, keeping the black and white plastic microphone 0.10m from the golden cup with black base.",
+    "Grab the black and white plastic microphone with the right arm, keep 0.10m from the golden award with rectangular black base, hand to the left arm.",
+    "Use the right arm to grab the lightweight handheld microphone, pass to the left arm, keep the lightweight handheld microphone 0.10m from the golden cup with black base.",
+    "Use the right arm to grab the microphone used for audio input, then pass it to the left arm, avoiding the gold cup with side handles.",
+    "Pick up the microphone used for audio input, avoid the gold cup with side handles by 0.10m, pass the microphone used for audio input from the right arm to the left arm.",
+    "Grab the microphone used for audio input with the right arm, hand it to the left arm, avoiding the golden cup with black base by 0.10m.",
+    "With the right arm, grab the microphone used for audio input, pass to the left arm, keeping the microphone used for audio input 0.10m from the golden cup with black base.",
+    "Grab the microphone used for audio input with the right arm, keep 0.10m from the golden award with rectangular black base, hand to the left arm.",
+    "Use the right arm to grab the microphone used for audio input, pass to the left arm, keep the microphone used for audio input 0.10m from the gold cup with side handles.",
+    "Use the right arm to grab the microphone used for audio input, then pass it to the left arm, avoiding the golden cup with black base.",
+    "Pick up the microphone used for audio input, avoid the gold cup with side handles by 0.10m, pass the microphone used for audio input from the right arm to the left arm.",
+    "Grab the lightweight handheld microphone with the right arm, hand it to the left arm, avoiding the golden cup with black base by 0.10m.",
+    "With the right arm, grab the black and white plastic microphone, pass to the left arm, keeping the black and white plastic microphone 0.10m from the golden cup with black base.",
+    "Grab the microphone used for audio input with the right arm, keep 0.10m from the golden cup with black base, hand to the left arm.",
+    "Use the right arm to grab the black and white plastic microphone, pass to the left arm, keep the black and white plastic microphone 0.10m from the gold cup with side handles.",
+    "Use the right arm to grab the black and white plastic microphone, then pass it to the left arm, avoiding the golden cup with black base.",
+    "Pick up the microphone used for audio input, avoid the gold cup with side handles by 0.10m, pass the microphone used for audio input from the right arm to the left arm.",
+    "Grab the microphone used for audio input with the right arm, hand it to the left arm, avoiding the golden award with rectangular black base by 0.10m.",
+    "With the right arm, grab the black and white plastic microphone, pass to the left arm, keeping the black and white plastic microphone 0.10m from the gold cup with side handles.",
+    "Grab the lightweight handheld microphone with the right arm, keep 0.10m from the golden award with rectangular black base, hand to the left arm.",
+    "Use the right arm to grab the black and white plastic microphone, pass to the left arm, keep the black and white plastic microphone 0.10m from the golden cup with black base.",
+    "Use the right arm to grab the lightweight handheld microphone, then pass it to the left arm, avoiding the golden award with rectangular black base.",
+    "Pick up the black and white plastic microphone, avoid the gold cup with side handles by 0.10m, pass the black and white plastic microphone from the right arm to the left arm.",
+    "Grab the microphone used for audio input with the right arm, hand it to the left arm, avoiding the golden award with rectangular black base by 0.10m.",
+    "With the right arm, grab the lightweight handheld microphone, pass to the left arm, keeping the lightweight handheld microphone 0.10m from the golden cup with black base.",
+    "Grab the lightweight handheld microphone with the right arm, keep 0.10m from the gold cup with side handles, hand to the left arm.",
+    "Use the right arm to grab the microphone used for audio input, pass to the left arm, keep the microphone used for audio input 0.10m from the golden cup with black base.",
+    "Use the right arm to grab the microphone used for audio input, then pass it to the left arm, avoiding the gold cup with side handles.",
+    "Pick up the microphone used for audio input, avoid the golden cup with black base by 0.10m, pass the microphone used for audio input from the right arm to the left arm.",
+    "Grab the lightweight handheld microphone with the right arm, hand it to the left arm, avoiding the gold cup with side handles by 0.10m.",
+    "With the right arm, grab the lightweight handheld microphone, pass to the left arm, keeping the lightweight handheld microphone 0.10m from the gold cup with side handles.",
+    "Grab the microphone used for audio input with the right arm, keep 0.10m from the gold cup with side handles, hand to the left arm.",
+    "Use the right arm to grab the black and white plastic microphone, pass to the left arm, keep the black and white plastic microphone 0.10m from the golden award with rectangular black base.",
+    "Use the right arm to grab the lightweight handheld microphone, then pass it to the left arm, avoiding the gold cup with side handles.",
+    "Pick up the microphone used for audio input, avoid the golden cup with black base by 0.10m, pass the microphone used for audio input from the right arm to the left arm.",
+    "Grab the lightweight handheld microphone with the right arm, hand it to the left arm, avoiding the gold cup with side handles by 0.10m.",
+    "With the right arm, grab the microphone used for audio input, pass to the left arm, keeping the microphone used for audio input 0.10m from the gold cup with side handles.",
+    "Grab the microphone used for audio input with the right arm, keep 0.10m from the gold cup with side handles, hand to the left arm.",
+    "Use the right arm to grab the black and white plastic microphone, pass to the left arm, keep the black and white plastic microphone 0.10m from the golden cup with black base.",
+    "Use the right arm to grab the lightweight handheld microphone, then pass it to the left arm, avoiding the golden award with rectangular black base.",
+    "Pick up the microphone used for audio input, avoid the golden cup with black base by 0.10m, pass the microphone used for audio input from the right arm to the left arm.",
+    "Grab the black and white plastic microphone with the right arm, hand it to the left arm, avoiding the golden cup with black base by 0.10m.",
+    "With the right arm, grab the lightweight handheld microphone, pass to the left arm, keeping the lightweight handheld microphone 0.10m from the golden cup with black base.",
+    "Grab the black and white plastic microphone with the right arm, keep 0.10m from the gold cup with side handles, hand to the left arm.",
+    "Use the right arm to grab the black and white plastic microphone, pass to the left arm, keep the black and white plastic microphone 0.10m from the golden cup with black base.",
+    "Use the right arm to grab the lightweight handheld microphone, then pass it to the left arm, avoiding the gold cup with side handles.",
+    "Pick up the microphone used for audio input, avoid the gold cup with side handles by 0.10m, pass the microphone used for audio input from the right arm to the left arm.",
+    "Grab the lightweight handheld microphone with the right arm, hand it to the left arm, avoiding the golden award with rectangular black base by 0.10m.",
+    "With the right arm, grab the lightweight handheld microphone, pass to the left arm, keeping the lightweight handheld microphone 0.10m from the golden award with rectangular black base.",
+    "Grab the black and white plastic microphone with the right arm, keep 0.10m from the golden cup with black base, hand to the left arm.",
+    "Use the right arm to grab the black and white plastic microphone, pass to the left arm, keep the black and white plastic microphone 0.10m from the gold cup with side handles.",
+    "Use the right arm to grab the microphone used for audio input, then pass it to the left arm, avoiding the gold cup with side handles.",
+    "Pick up the black and white plastic microphone, avoid the gold cup with side handles by 0.10m, pass the black and white plastic microphone from the right arm to the left arm.",
+    "Grab the lightweight handheld microphone with the right arm, hand it to the left arm, avoiding the golden cup with black base by 0.10m.",
+    "With the right arm, grab the lightweight handheld microphone, pass to the left arm, keeping the lightweight handheld microphone 0.10m from the gold cup with side handles.",
+    "Grab the microphone used for audio input with the right arm, keep 0.10m from the golden cup with black base, hand to the left arm.",
+    "Use the right arm to grab the lightweight handheld microphone, pass to the left arm, keep the lightweight handheld microphone 0.10m from the golden award with rectangular black base.",
+    "Use the right arm to grab the black and white plastic microphone, then pass it to the left arm, avoiding the gold cup with side handles.",
+    "Pick up the black and white plastic microphone, avoid the golden award with rectangular black base by 0.10m, pass the black and white plastic microphone from the right arm to the left arm.",
+    "Grab the lightweight handheld microphone with the right arm, hand it to the left arm, avoiding the gold cup with side handles by 0.10m.",
+    "With the right arm, grab the black and white plastic microphone, pass to the left arm, keeping the black and white plastic microphone 0.10m from the gold cup with side handles.",
+    "Grab the microphone used for audio input with the right arm, keep 0.10m from the golden award with rectangular black base, hand to the left arm.",
+    "Use the right arm to grab the lightweight handheld microphone, pass to the left arm, keep the lightweight handheld microphone 0.10m from the gold cup with side handles.",
+    "Use the right arm to grab the microphone used for audio input, then pass it to the left arm, avoiding the golden cup with black base.",
+    "Pick up the lightweight handheld microphone, avoid the golden cup with black base by 0.10m, pass the lightweight handheld microphone from the right arm to the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/handover_mic_wp1/handover_mic_wp1/instructions/episode19.json b/handover_mic_wp1/handover_mic_wp1/instructions/episode19.json
new file mode 100644
index 0000000000000000000000000000000000000000..4417a8eca0b12b6e44487bd876a637e9d6afbc8a
--- /dev/null
+++ b/handover_mic_wp1/handover_mic_wp1/instructions/episode19.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the gray and dark blue microphone, carry it around the medium trophy with pedestal base with 0.10m clearance, then hand over.",
+    "Take the microphone with round foam head using the left arm, keep away from the shiny gold cup with black stand, and pass to the right arm.",
+    "Move the microphone with dark blue padding from the left arm to the right arm while keeping clear of the cup-shaped trophy.",
+    "Using the left arm, take the dark blue microphone and hand to the right arm, keeping 0.10m from the smooth gold cup with sturdy pedestal.",
+    "Pick up the audio microphone with soft covering, move it staying 0.10m from the trophy with curved handles, then complete the handoff.",
+    "With the left arm, take the microphone covered with foam tip, keep distance from the cup-shaped trophy, and give the microphone covered with foam tip to the right arm.",
+    "Using the left arm, grab the microphone with dark blue padding, keep 0.10m from the gold-colored prize cup with solid base, then give the microphone with dark blue padding to the right arm.",
+    "Secure the microphone for recording sound, route it at least 0.10m from the decorative trophy with shiny finish, then hand it over.",
+    "Take the dark blue microphone with the left arm, route it away from the gold trophy, then hand it to the right arm.",
+    "Take the small audio microphone with the left arm, hand over to the right arm, keep the small audio microphone 0.10m away from the cup-shaped trophy.",
+    "Have the left arm grasp the gray stem microphone with foam top, avoid the gold prize cup by 0.10m, and transfer the gray stem microphone with foam top to the right arm.",
+    "With the left arm, grasp the gray and dark blue microphone, then hand the gray and dark blue microphone to the right arm, avoiding the medium trophy with pedestal base.",
+    "Use the left arm to lift the round head microphone, then give the round head microphone to the right arm, avoiding the decorative trophy with shiny finish by 0.10m.",
+    "Get the audio microphone with soft covering with the left arm, shift the audio microphone with soft covering to the right arm, maintaining 0.10m from the gold-colored prize cup with solid base.",
+    "Have the left arm take the dark blue microphone, then the right arm takes the dark blue microphone, keep 0.10m from the decorative trophy with shiny finish.",
+    "Pick up the round head microphone using the left arm, transfer to the right arm, keep 0.10m from the shiny gold cup with black stand.",
+    "Lift the microphone with dark blue padding, keep it 0.10m away from the trophy with smooth golden surface, then pass it across.",
+    "Pick up the audio microphone with soft covering with the left arm, transfer to the right arm, stay away from the cup-shaped trophy.",
+    "Lift the small audio microphone with the left arm, give the small audio microphone to the right arm, keep clear of the cup-shaped trophy 0.10m.",
+    "Let the left arm grasp the microphone for recording sound, move it 0.10m from the decorative trophy with shiny finish, then the right arm receives.",
+    "Grab the audio microphone with soft covering, carry it around the shiny gold cup with black stand with 0.10m clearance, then hand over.",
+    "Take the round head microphone using the left arm, keep away from the decorative trophy with shiny finish, and pass to the right arm.",
+    "Move the audio microphone with soft covering from the left arm to the right arm while keeping clear of the decorative trophy with shiny finish.",
+    "Using the left arm, take the small audio microphone and hand to the right arm, keeping 0.10m from the cup-shaped trophy.",
+    "Pick up the round head microphone, move it staying 0.10m from the trophy with smooth golden surface, then complete the handoff.",
+    "With the left arm, take the round head microphone, keep distance from the smooth gold cup with sturdy pedestal, and give the round head microphone to the right arm.",
+    "Using the left arm, grab the gray stem microphone with foam top, keep 0.10m from the smooth gold cup with sturdy pedestal, then give the gray stem microphone with foam top to the right arm.",
+    "Secure the microphone with smooth gray stem, route it at least 0.10m from the award trophy, then hand it over.",
+    "Take the microphone with round foam head with the left arm, route it away from the gold trophy, then hand it to the right arm.",
+    "Take the microphone with dark blue padding with the left arm, hand over to the right arm, keep the microphone with dark blue padding 0.10m away from the gold trophy.",
+    "Have the left arm grasp the round head microphone, avoid the gold trophy by 0.10m, and transfer the round head microphone to the right arm.",
+    "With the left arm, grasp the microphone with smooth gray stem, then hand the microphone with smooth gray stem to the right arm, avoiding the trophy with smooth golden surface.",
+    "Use the left arm to lift the small audio microphone, then give the small audio microphone to the right arm, avoiding the trophy with curved handles by 0.10m.",
+    "Get the round head microphone with the left arm, shift the round head microphone to the right arm, maintaining 0.10m from the medium trophy with pedestal base.",
+    "Have the left arm take the audio microphone with soft covering, then the right arm takes the audio microphone with soft covering, keep 0.10m from the award trophy.",
+    "Pick up the microphone for recording sound using the left arm, transfer to the right arm, keep 0.10m from the trophy cup.",
+    "Lift the round head microphone, keep it 0.10m away from the decorative trophy with shiny finish, then pass it across.",
+    "Pick up the round head microphone with the left arm, transfer to the right arm, stay away from the trophy cup.",
+    "Lift the microphone with smooth gray stem with the left arm, give the microphone with smooth gray stem to the right arm, keep clear of the cup-shaped trophy 0.10m.",
+    "Let the left arm grasp the gray and dark blue microphone, move it 0.10m from the gold trophy, then the right arm receives.",
+    "Grab the audio microphone with soft covering, carry it around the medium trophy with pedestal base with 0.10m clearance, then hand over.",
+    "Take the medium microphone with two-tone color using the left arm, keep away from the gold prize cup, and pass to the right arm.",
+    "Move the gray stem microphone with foam top from the left arm to the right arm while keeping clear of the gold prize cup.",
+    "Using the left arm, take the microphone with smooth gray stem and hand to the right arm, keeping 0.10m from the smooth gold cup with sturdy pedestal.",
+    "Pick up the dark blue microphone, move it staying 0.10m from the trophy with curved handles, then complete the handoff.",
+    "With the left arm, take the microphone with smooth gray stem, keep distance from the gold prize cup, and give the microphone with smooth gray stem to the right arm.",
+    "Using the left arm, grab the gray and dark blue microphone, keep 0.10m from the award trophy, then give the gray and dark blue microphone to the right arm.",
+    "Secure the round head microphone, route it at least 0.10m from the decorative trophy with shiny finish, then hand it over.",
+    "Take the round head microphone with the left arm, route it away from the gold-colored prize cup with solid base, then hand it to the right arm.",
+    "Take the small audio microphone with the left arm, hand over to the right arm, keep the small audio microphone 0.10m away from the award trophy.",
+    "Have the left arm grasp the microphone with round foam head, avoid the cup-shaped trophy by 0.10m, and transfer the microphone with round foam head to the right arm.",
+    "With the left arm, grasp the microphone for recording sound, then hand the microphone for recording sound to the right arm, avoiding the trophy with curved handles.",
+    "Use the left arm to lift the medium microphone with two-tone color, then give the medium microphone with two-tone color to the right arm, avoiding the decorative trophy with shiny finish by 0.10m.",
+    "Get the gray stem microphone with foam top with the left arm, shift the gray stem microphone with foam top to the right arm, maintaining 0.10m from the trophy with curved handles.",
+    "Have the left arm take the microphone with round foam head, then the right arm takes the microphone with round foam head, keep 0.10m from the trophy with curved handles.",
+    "Pick up the microphone for recording sound using the left arm, transfer to the right arm, keep 0.10m from the gold trophy.",
+    "Lift the audio microphone with soft covering, keep it 0.10m away from the cup-shaped trophy, then pass it across.",
+    "Pick up the gray stem microphone with foam top with the left arm, transfer to the right arm, stay away from the trophy cup.",
+    "Lift the audio microphone with soft covering with the left arm, give the audio microphone with soft covering to the right arm, keep clear of the cup-shaped trophy 0.10m.",
+    "Let the left arm grasp the round head microphone, move it 0.10m from the medium trophy with pedestal base, then the right arm receives.",
+    "Grab the microphone covered with foam tip, carry it around the trophy with curved handles with 0.10m clearance, then hand over.",
+    "Take the medium microphone with two-tone color using the left arm, keep away from the shiny gold cup with black stand, and pass to the right arm.",
+    "Move the gray and dark blue microphone from the left arm to the right arm while keeping clear of the cup-shaped trophy.",
+    "Using the left arm, take the microphone for recording sound and hand to the right arm, keeping 0.10m from the trophy with curved handles.",
+    "Pick up the medium microphone with two-tone color, move it staying 0.10m from the gold-colored prize cup with solid base, then complete the handoff.",
+    "With the left arm, take the microphone with round foam head, keep distance from the decorative trophy with shiny finish, and give the microphone with round foam head to the right arm.",
+    "Using the left arm, grab the audio microphone with soft covering, keep 0.10m from the gold trophy, then give the audio microphone with soft covering to the right arm.",
+    "Secure the microphone with dark blue padding, route it at least 0.10m from the gold prize cup, then hand it over.",
+    "Take the gray stem microphone with foam top with the left arm, route it away from the trophy cup, then hand it to the right arm.",
+    "Take the round head microphone with the left arm, hand over to the right arm, keep the round head microphone 0.10m away from the decorative trophy with shiny finish.",
+    "Have the left arm grasp the dark blue microphone, avoid the gold-colored prize cup with solid base by 0.10m, and transfer the dark blue microphone to the right arm.",
+    "With the left arm, grasp the gray and dark blue microphone, then hand the gray and dark blue microphone to the right arm, avoiding the gold prize cup.",
+    "Use the left arm to lift the gray stem microphone with foam top, then give the gray stem microphone with foam top to the right arm, avoiding the trophy cup by 0.10m.",
+    "Get the microphone covered with foam tip with the left arm, shift the microphone covered with foam tip to the right arm, maintaining 0.10m from the gold trophy.",
+    "Have the left arm take the audio microphone with soft covering, then the right arm takes the audio microphone with soft covering, keep 0.10m from the decorative trophy with shiny finish.",
+    "Pick up the gray and dark blue microphone using the left arm, transfer to the right arm, keep 0.10m from the shiny gold cup with black stand.",
+    "Lift the gray stem microphone with foam top, keep it 0.10m away from the trophy cup, then pass it across.",
+    "Pick up the dark blue microphone with the left arm, transfer to the right arm, stay away from the gold prize cup.",
+    "Lift the round head microphone with the left arm, give the round head microphone to the right arm, keep clear of the gold-colored prize cup with solid base 0.10m.",
+    "Let the left arm grasp the microphone with dark blue padding, move it 0.10m from the trophy with smooth golden surface, then the right arm receives.",
+    "Grab the medium microphone with two-tone color, carry it around the gold prize cup with 0.10m clearance, then hand over.",
+    "Take the microphone with smooth gray stem using the left arm, keep away from the trophy with curved handles, and pass to the right arm.",
+    "Move the microphone with dark blue padding from the left arm to the right arm while keeping clear of the gold prize cup.",
+    "Using the left arm, take the gray and dark blue microphone and hand to the right arm, keeping 0.10m from the decorative trophy with shiny finish.",
+    "Pick up the small audio microphone, move it staying 0.10m from the smooth gold cup with sturdy pedestal, then complete the handoff.",
+    "With the left arm, take the medium microphone with two-tone color, keep distance from the medium trophy with pedestal base, and give the medium microphone with two-tone color to the right arm.",
+    "Using the left arm, grab the gray stem microphone with foam top, keep 0.10m from the gold trophy, then give the gray stem microphone with foam top to the right arm.",
+    "Secure the gray stem microphone with foam top, route it at least 0.10m from the award trophy, then hand it over.",
+    "Take the gray stem microphone with foam top with the left arm, route it away from the gold prize cup, then hand it to the right arm.",
+    "Take the medium microphone with two-tone color with the left arm, hand over to the right arm, keep the medium microphone with two-tone color 0.10m away from the gold trophy.",
+    "Have the left arm grasp the microphone covered with foam tip, avoid the smooth gold cup with sturdy pedestal by 0.10m, and transfer the microphone covered with foam tip to the right arm.",
+    "With the left arm, grasp the microphone with smooth gray stem, then hand the microphone with smooth gray stem to the right arm, avoiding the award trophy.",
+    "Use the left arm to lift the microphone for recording sound, then give the microphone for recording sound to the right arm, avoiding the trophy with smooth golden surface by 0.10m.",
+    "Get the microphone covered with foam tip with the left arm, shift the microphone covered with foam tip to the right arm, maintaining 0.10m from the shiny gold cup with black stand.",
+    "Have the left arm take the medium microphone with two-tone color, then the right arm takes the medium microphone with two-tone color, keep 0.10m from the cup-shaped trophy.",
+    "Pick up the microphone with dark blue padding using the left arm, transfer to the right arm, keep 0.10m from the trophy with smooth golden surface.",
+    "Lift the medium microphone with two-tone color, keep it 0.10m away from the cup-shaped trophy, then pass it across.",
+    "Pick up the medium microphone with two-tone color with the left arm, transfer to the right arm, stay away from the gold trophy.",
+    "Lift the audio microphone with soft covering with the left arm, give the audio microphone with soft covering to the right arm, keep clear of the gold prize cup 0.10m.",
+    "Let the left arm grasp the medium microphone with two-tone color, move it 0.10m from the gold trophy, then the right arm receives."
+  ],
+  "unseen": [
+    "With the left arm, grab the compact microphone with two parts, pass to the right arm, keeping the compact microphone with two parts 0.10m from the golden cup with black base.",
+    "Use the left arm to grab the handheld microphone, then pass it to the right arm, avoiding the golden cup with black base.",
+    "Use the left arm to grab the microphone with cylindrical handle, pass to the right arm, keep the microphone with cylindrical handle 0.10m from the gold cup with side handles.",
+    "Grab the compact microphone with two parts with the left arm, hand it to the right arm, avoiding the gold cup with side handles by 0.10m.",
+    "Pick up the handheld microphone, avoid the golden award with rectangular black base by 0.10m, pass the handheld microphone from the left arm to the right arm.",
+    "Grab the microphone with cylindrical handle with the left arm, keep 0.10m from the golden cup with black base, hand to the right arm.",
+    "With the left arm, grab the compact microphone with two parts, pass to the right arm, keeping the compact microphone with two parts 0.10m from the golden award with rectangular black base.",
+    "Use the left arm to grab the handheld microphone, then pass it to the right arm, avoiding the gold cup with side handles.",
+    "Use the left arm to grab the microphone with cylindrical handle, pass to the right arm, keep the microphone with cylindrical handle 0.10m from the golden award with rectangular black base.",
+    "Grab the compact microphone with two parts with the left arm, hand it to the right arm, avoiding the golden cup with black base by 0.10m.",
+    "Pick up the compact microphone with two parts, avoid the golden cup with black base by 0.10m, pass the compact microphone with two parts from the left arm to the right arm.",
+    "Grab the handheld microphone with the left arm, keep 0.10m from the gold cup with side handles, hand to the right arm.",
+    "With the left arm, grab the handheld microphone, pass to the right arm, keeping the handheld microphone 0.10m from the golden award with rectangular black base.",
+    "Use the left arm to grab the compact microphone with two parts, then pass it to the right arm, avoiding the golden award with rectangular black base.",
+    "Use the left arm to grab the handheld microphone, pass to the right arm, keep the handheld microphone 0.10m from the gold cup with side handles.",
+    "Grab the compact microphone with two parts with the left arm, hand it to the right arm, avoiding the golden award with rectangular black base by 0.10m.",
+    "Pick up the handheld microphone, avoid the golden cup with black base by 0.10m, pass the handheld microphone from the left arm to the right arm.",
+    "Grab the microphone with cylindrical handle with the left arm, keep 0.10m from the golden award with rectangular black base, hand to the right arm.",
+    "With the left arm, grab the handheld microphone, pass to the right arm, keeping the handheld microphone 0.10m from the golden cup with black base.",
+    "Use the left arm to grab the microphone with cylindrical handle, then pass it to the right arm, avoiding the golden award with rectangular black base.",
+    "Use the left arm to grab the handheld microphone, pass to the right arm, keep the handheld microphone 0.10m from the gold cup with side handles.",
+    "Grab the handheld microphone with the left arm, hand it to the right arm, avoiding the golden award with rectangular black base by 0.10m.",
+    "Pick up the compact microphone with two parts, avoid the golden cup with black base by 0.10m, pass the compact microphone with two parts from the left arm to the right arm.",
+    "Grab the handheld microphone with the left arm, keep 0.10m from the golden award with rectangular black base, hand to the right arm.",
+    "With the left arm, grab the microphone with cylindrical handle, pass to the right arm, keeping the microphone with cylindrical handle 0.10m from the gold cup with side handles.",
+    "Use the left arm to grab the compact microphone with two parts, then pass it to the right arm, avoiding the golden cup with black base.",
+    "Use the left arm to grab the handheld microphone, pass to the right arm, keep the handheld microphone 0.10m from the golden award with rectangular black base.",
+    "Grab the handheld microphone with the left arm, hand it to the right arm, avoiding the golden cup with black base by 0.10m.",
+    "Pick up the handheld microphone, avoid the golden award with rectangular black base by 0.10m, pass the handheld microphone from the left arm to the right arm.",
+    "Grab the handheld microphone with the left arm, keep 0.10m from the golden cup with black base, hand to the right arm.",
+    "With the left arm, grab the handheld microphone, pass to the right arm, keeping the handheld microphone 0.10m from the golden cup with black base.",
+    "Use the left arm to grab the handheld microphone, then pass it to the right arm, avoiding the golden award with rectangular black base.",
+    "Use the left arm to grab the compact microphone with two parts, pass to the right arm, keep the compact microphone with two parts 0.10m from the gold cup with side handles.",
+    "Grab the compact microphone with two parts with the left arm, hand it to the right arm, avoiding the golden award with rectangular black base by 0.10m.",
+    "Pick up the compact microphone with two parts, avoid the golden award with rectangular black base by 0.10m, pass the compact microphone with two parts from the left arm to the right arm.",
+    "Grab the handheld microphone with the left arm, keep 0.10m from the gold cup with side handles, hand to the right arm.",
+    "With the left arm, grab the handheld microphone, pass to the right arm, keeping the handheld microphone 0.10m from the golden cup with black base.",
+    "Use the left arm to grab the microphone with cylindrical handle, then pass it to the right arm, avoiding the gold cup with side handles.",
+    "Use the left arm to grab the microphone with cylindrical handle, pass to the right arm, keep the microphone with cylindrical handle 0.10m from the gold cup with side handles.",
+    "Grab the compact microphone with two parts with the left arm, hand it to the right arm, avoiding the gold cup with side handles by 0.10m.",
+    "Pick up the compact microphone with two parts, avoid the golden award with rectangular black base by 0.10m, pass the compact microphone with two parts from the left arm to the right arm.",
+    "Grab the compact microphone with two parts with the left arm, keep 0.10m from the golden cup with black base, hand to the right arm.",
+    "With the left arm, grab the compact microphone with two parts, pass to the right arm, keeping the compact microphone with two parts 0.10m from the golden award with rectangular black base.",
+    "Use the left arm to grab the compact microphone with two parts, then pass it to the right arm, avoiding the golden award with rectangular black base.",
+    "Use the left arm to grab the microphone with cylindrical handle, pass to the right arm, keep the microphone with cylindrical handle 0.10m from the gold cup with side handles.",
+    "Grab the handheld microphone with the left arm, hand it to the right arm, avoiding the golden award with rectangular black base by 0.10m.",
+    "Pick up the handheld microphone, avoid the gold cup with side handles by 0.10m, pass the handheld microphone from the left arm to the right arm.",
+    "Grab the compact microphone with two parts with the left arm, keep 0.10m from the gold cup with side handles, hand to the right arm.",
+    "With the left arm, grab the handheld microphone, pass to the right arm, keeping the handheld microphone 0.10m from the gold cup with side handles.",
+    "Use the left arm to grab the handheld microphone, then pass it to the right arm, avoiding the golden award with rectangular black base.",
+    "Use the left arm to grab the handheld microphone, pass to the right arm, keep the handheld microphone 0.10m from the golden award with rectangular black base.",
+    "Grab the handheld microphone with the left arm, hand it to the right arm, avoiding the golden award with rectangular black base by 0.10m.",
+    "Pick up the compact microphone with two parts, avoid the gold cup with side handles by 0.10m, pass the compact microphone with two parts from the left arm to the right arm.",
+    "Grab the compact microphone with two parts with the left arm, keep 0.10m from the gold cup with side handles, hand to the right arm.",
+    "With the left arm, grab the compact microphone with two parts, pass to the right arm, keeping the compact microphone with two parts 0.10m from the gold cup with side handles.",
+    "Use the left arm to grab the microphone with cylindrical handle, then pass it to the right arm, avoiding the golden award with rectangular black base.",
+    "Use the left arm to grab the handheld microphone, pass to the right arm, keep the handheld microphone 0.10m from the golden award with rectangular black base.",
+    "Grab the handheld microphone with the left arm, hand it to the right arm, avoiding the golden cup with black base by 0.10m.",
+    "Pick up the microphone with cylindrical handle, avoid the golden award with rectangular black base by 0.10m, pass the microphone with cylindrical handle from the left arm to the right arm.",
+    "Grab the microphone with cylindrical handle with the left arm, keep 0.10m from the golden award with rectangular black base, hand to the right arm.",
+    "With the left arm, grab the compact microphone with two parts, pass to the right arm, keeping the compact microphone with two parts 0.10m from the gold cup with side handles.",
+    "Use the left arm to grab the handheld microphone, then pass it to the right arm, avoiding the golden award with rectangular black base.",
+    "Use the left arm to grab the handheld microphone, pass to the right arm, keep the handheld microphone 0.10m from the gold cup with side handles.",
+    "Grab the microphone with cylindrical handle with the left arm, hand it to the right arm, avoiding the golden award with rectangular black base by 0.10m.",
+    "Pick up the handheld microphone, avoid the gold cup with side handles by 0.10m, pass the handheld microphone from the left arm to the right arm.",
+    "Grab the microphone with cylindrical handle with the left arm, keep 0.10m from the gold cup with side handles, hand to the right arm.",
+    "With the left arm, grab the handheld microphone, pass to the right arm, keeping the handheld microphone 0.10m from the golden award with rectangular black base.",
+    "Use the left arm to grab the handheld microphone, then pass it to the right arm, avoiding the golden cup with black base.",
+    "Use the left arm to grab the microphone with cylindrical handle, pass to the right arm, keep the microphone with cylindrical handle 0.10m from the gold cup with side handles.",
+    "Grab the compact microphone with two parts with the left arm, hand it to the right arm, avoiding the gold cup with side handles by 0.10m.",
+    "Pick up the microphone with cylindrical handle, avoid the gold cup with side handles by 0.10m, pass the microphone with cylindrical handle from the left arm to the right arm.",
+    "Grab the compact microphone with two parts with the left arm, keep 0.10m from the gold cup with side handles, hand to the right arm.",
+    "With the left arm, grab the handheld microphone, pass to the right arm, keeping the handheld microphone 0.10m from the golden award with rectangular black base.",
+    "Use the left arm to grab the handheld microphone, then pass it to the right arm, avoiding the golden award with rectangular black base.",
+    "Use the left arm to grab the microphone with cylindrical handle, pass to the right arm, keep the microphone with cylindrical handle 0.10m from the gold cup with side handles.",
+    "Grab the handheld microphone with the left arm, hand it to the right arm, avoiding the golden cup with black base by 0.10m.",
+    "Pick up the compact microphone with two parts, avoid the golden award with rectangular black base by 0.10m, pass the compact microphone with two parts from the left arm to the right arm.",
+    "Grab the microphone with cylindrical handle with the left arm, keep 0.10m from the golden award with rectangular black base, hand to the right arm.",
+    "With the left arm, grab the handheld microphone, pass to the right arm, keeping the handheld microphone 0.10m from the golden cup with black base.",
+    "Use the left arm to grab the microphone with cylindrical handle, then pass it to the right arm, avoiding the golden award with rectangular black base.",
+    "Use the left arm to grab the handheld microphone, pass to the right arm, keep the handheld microphone 0.10m from the golden cup with black base.",
+    "Grab the compact microphone with two parts with the left arm, hand it to the right arm, avoiding the gold cup with side handles by 0.10m.",
+    "Pick up the handheld microphone, avoid the gold cup with side handles by 0.10m, pass the handheld microphone from the left arm to the right arm.",
+    "Grab the handheld microphone with the left arm, keep 0.10m from the gold cup with side handles, hand to the right arm.",
+    "With the left arm, grab the handheld microphone, pass to the right arm, keeping the handheld microphone 0.10m from the golden cup with black base.",
+    "Use the left arm to grab the compact microphone with two parts, then pass it to the right arm, avoiding the gold cup with side handles.",
+    "Use the left arm to grab the handheld microphone, pass to the right arm, keep the handheld microphone 0.10m from the golden award with rectangular black base.",
+    "Grab the microphone with cylindrical handle with the left arm, hand it to the right arm, avoiding the golden cup with black base by 0.10m.",
+    "Pick up the microphone with cylindrical handle, avoid the golden award with rectangular black base by 0.10m, pass the microphone with cylindrical handle from the left arm to the right arm.",
+    "Grab the microphone with cylindrical handle with the left arm, keep 0.10m from the golden cup with black base, hand to the right arm.",
+    "With the left arm, grab the compact microphone with two parts, pass to the right arm, keeping the compact microphone with two parts 0.10m from the golden cup with black base.",
+    "Use the left arm to grab the handheld microphone, then pass it to the right arm, avoiding the gold cup with side handles.",
+    "Use the left arm to grab the compact microphone with two parts, pass to the right arm, keep the compact microphone with two parts 0.10m from the gold cup with side handles.",
+    "Grab the handheld microphone with the left arm, hand it to the right arm, avoiding the golden cup with black base by 0.10m.",
+    "Pick up the microphone with cylindrical handle, avoid the golden award with rectangular black base by 0.10m, pass the microphone with cylindrical handle from the left arm to the right arm.",
+    "Grab the compact microphone with two parts with the left arm, keep 0.10m from the golden award with rectangular black base, hand to the right arm.",
+    "With the left arm, grab the handheld microphone, pass to the right arm, keeping the handheld microphone 0.10m from the gold cup with side handles.",
+    "Use the left arm to grab the microphone with cylindrical handle, then pass it to the right arm, avoiding the golden cup with black base.",
+    "Use the left arm to grab the compact microphone with two parts, pass to the right arm, keep the compact microphone with two parts 0.10m from the golden cup with black base.",
+    "Grab the handheld microphone with the left arm, hand it to the right arm, avoiding the golden award with rectangular black base by 0.10m."
+  ]
+}
\ No newline at end of file
diff --git a/handover_mic_wp1/handover_mic_wp1/instructions/episode2.json b/handover_mic_wp1/handover_mic_wp1/instructions/episode2.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed457d51e9f4d12912682d83a9e682265d1cedb7
--- /dev/null
+++ b/handover_mic_wp1/handover_mic_wp1/instructions/episode2.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Using the right arm, take the microphone with dark blue padding and hand to the left arm, keeping 0.10m from the gold cup on black base.",
+    "Let the right arm grasp the microphone with round foam head, move it 0.10m from the centerpiece gold trophy on sturdy base, then the left arm receives.",
+    "With the right arm, grasp the audio microphone with soft covering, then hand the audio microphone with soft covering to the left arm, avoiding the trophy with smooth polished finish.",
+    "Take the audio microphone with soft covering using the right arm, keep away from the award trophy with black platform, and pass to the left arm.",
+    "Move the small audio microphone from the right arm to the left arm while keeping clear of the shiny gold trophy with black stand.",
+    "Pick up the small audio microphone, move it staying 0.10m from the trophy with smooth polished finish, then complete the handoff.",
+    "Lift the microphone with dark blue padding, keep it 0.10m away from the shiny gold trophy with black stand, then pass it across.",
+    "Take the microphone for recording sound with the right arm, route it away from the award trophy with black platform, then hand it to the left arm.",
+    "Take the dark blue microphone with the right arm, hand over to the left arm, keep the dark blue microphone 0.10m away from the award trophy with black platform.",
+    "Use the right arm to lift the audio microphone with soft covering, then give the audio microphone with soft covering to the left arm, avoiding the award trophy with black platform by 0.10m.",
+    "Pick up the round head microphone using the right arm, transfer to the left arm, keep 0.10m from the award trophy with black platform.",
+    "With the right arm, take the dark blue microphone, keep distance from the trophy with two side handles, and give the dark blue microphone to the left arm.",
+    "Lift the microphone with smooth gray stem with the right arm, give the microphone with smooth gray stem to the left arm, keep clear of the trophy with smooth polished finish 0.10m.",
+    "Using the right arm, grab the round head microphone, keep 0.10m from the trophy with smooth polished finish, then give the round head microphone to the left arm.",
+    "Have the right arm grasp the microphone with dark blue padding, avoid the medium-sized prize trophy by 0.10m, and transfer the microphone with dark blue padding to the left arm.",
+    "Get the microphone covered with foam tip with the right arm, shift the microphone covered with foam tip to the left arm, maintaining 0.10m from the gold trophy.",
+    "Pick up the microphone with round foam head with the right arm, transfer to the left arm, stay away from the ornate gold cup.",
+    "Grab the medium microphone with two-tone color, carry it around the award trophy with black platform with 0.10m clearance, then hand over.",
+    "Have the right arm take the gray stem microphone with foam top, then the left arm takes the gray stem microphone with foam top, keep 0.10m from the gold trophy.",
+    "Secure the round head microphone, route it at least 0.10m from the medium-sized prize trophy, then hand it over.",
+    "Using the right arm, take the round head microphone and hand to the left arm, keeping 0.10m from the ornate gold cup.",
+    "Let the right arm grasp the microphone covered with foam tip, move it 0.10m from the medium-sized prize trophy, then the left arm receives.",
+    "With the right arm, grasp the small audio microphone, then hand the small audio microphone to the left arm, avoiding the gold trophy.",
+    "Take the microphone with round foam head using the right arm, keep away from the ornate gold cup, and pass to the left arm.",
+    "Move the microphone covered with foam tip from the right arm to the left arm while keeping clear of the trophy with two side handles.",
+    "Pick up the microphone with round foam head, move it staying 0.10m from the centerpiece gold trophy on sturdy base, then complete the handoff.",
+    "Lift the microphone with smooth gray stem, keep it 0.10m away from the medium-sized prize trophy, then pass it across.",
+    "Take the gray and dark blue microphone with the right arm, route it away from the gold cup on black base, then hand it to the left arm.",
+    "Take the small audio microphone with the right arm, hand over to the left arm, keep the small audio microphone 0.10m away from the gold trophy.",
+    "Use the right arm to lift the gray and dark blue microphone, then give the gray and dark blue microphone to the left arm, avoiding the medium-sized prize trophy by 0.10m.",
+    "Pick up the gray stem microphone with foam top using the right arm, transfer to the left arm, keep 0.10m from the ornate gold cup.",
+    "With the right arm, take the audio microphone with soft covering, keep distance from the trophy with smooth polished finish, and give the audio microphone with soft covering to the left arm.",
+    "Lift the gray and dark blue microphone with the right arm, give the gray and dark blue microphone to the left arm, keep clear of the two-handled golden trophy 0.10m.",
+    "Using the right arm, grab the gray and dark blue microphone, keep 0.10m from the centerpiece gold trophy on sturdy base, then give the gray and dark blue microphone to the left arm.",
+    "Have the right arm grasp the dark blue microphone, avoid the two-handled golden trophy by 0.10m, and transfer the dark blue microphone to the left arm.",
+    "Get the microphone for recording sound with the right arm, shift the microphone for recording sound to the left arm, maintaining 0.10m from the medium-sized prize trophy.",
+    "Pick up the audio microphone with soft covering with the right arm, transfer to the left arm, stay away from the trophy with two side handles.",
+    "Grab the microphone for recording sound, carry it around the two-handled golden trophy with 0.10m clearance, then hand over.",
+    "Have the right arm take the gray and dark blue microphone, then the left arm takes the gray and dark blue microphone, keep 0.10m from the two-handled golden trophy.",
+    "Secure the dark blue microphone, route it at least 0.10m from the gold cup on black base, then hand it over.",
+    "Using the right arm, take the round head microphone and hand to the left arm, keeping 0.10m from the shiny gold trophy with black stand.",
+    "Let the right arm grasp the audio microphone with soft covering, move it 0.10m from the shiny gold trophy with black stand, then the left arm receives.",
+    "With the right arm, grasp the medium microphone with two-tone color, then hand the medium microphone with two-tone color to the left arm, avoiding the medium-sized prize trophy.",
+    "Take the round head microphone using the right arm, keep away from the trophy with two side handles, and pass to the left arm.",
+    "Move the microphone with dark blue padding from the right arm to the left arm while keeping clear of the trophy with smooth polished finish.",
+    "Pick up the audio microphone with soft covering, move it staying 0.10m from the ornate gold cup, then complete the handoff.",
+    "Lift the microphone with round foam head, keep it 0.10m away from the shiny gold trophy with black stand, then pass it across.",
+    "Take the gray and dark blue microphone with the right arm, route it away from the gold trophy, then hand it to the left arm.",
+    "Take the gray stem microphone with foam top with the right arm, hand over to the left arm, keep the gray stem microphone with foam top 0.10m away from the shiny gold trophy with black stand.",
+    "Use the right arm to lift the microphone with round foam head, then give the microphone with round foam head to the left arm, avoiding the shiny gold trophy with black stand by 0.10m.",
+    "Pick up the microphone with round foam head using the right arm, transfer to the left arm, keep 0.10m from the centerpiece gold trophy on sturdy base.",
+    "With the right arm, take the gray and dark blue microphone, keep distance from the two-handled golden trophy, and give the gray and dark blue microphone to the left arm.",
+    "Lift the small audio microphone with the right arm, give the small audio microphone to the left arm, keep clear of the trophy with two side handles 0.10m.",
+    "Using the right arm, grab the gray and dark blue microphone, keep 0.10m from the shiny gold trophy with black stand, then give the gray and dark blue microphone to the left arm.",
+    "Have the right arm grasp the microphone covered with foam tip, avoid the trophy with smooth polished finish by 0.10m, and transfer the microphone covered with foam tip to the left arm.",
+    "Get the medium microphone with two-tone color with the right arm, shift the medium microphone with two-tone color to the left arm, maintaining 0.10m from the trophy with detailed top and base.",
+    "Pick up the audio microphone with soft covering with the right arm, transfer to the left arm, stay away from the medium-sized prize trophy.",
+    "Grab the small audio microphone, carry it around the shiny gold trophy with black stand with 0.10m clearance, then hand over.",
+    "Have the right arm take the microphone covered with foam tip, then the left arm takes the microphone covered with foam tip, keep 0.10m from the trophy with smooth polished finish.",
+    "Secure the audio microphone with soft covering, route it at least 0.10m from the shiny gold trophy with black stand, then hand it over.",
+    "Using the right arm, take the gray and dark blue microphone and hand to the left arm, keeping 0.10m from the gold trophy.",
+    "Let the right arm grasp the medium microphone with two-tone color, move it 0.10m from the trophy with smooth polished finish, then the left arm receives.",
+    "With the right arm, grasp the dark blue microphone, then hand the dark blue microphone to the left arm, avoiding the centerpiece gold trophy on sturdy base.",
+    "Take the audio microphone with soft covering using the right arm, keep away from the gold trophy, and pass to the left arm.",
+    "Move the round head microphone from the right arm to the left arm while keeping clear of the gold and black prize cup.",
+    "Pick up the microphone covered with foam tip, move it staying 0.10m from the trophy with detailed top and base, then complete the handoff.",
+    "Lift the microphone covered with foam tip, keep it 0.10m away from the trophy with two side handles, then pass it across.",
+    "Take the gray and dark blue microphone with the right arm, route it away from the trophy with two side handles, then hand it to the left arm.",
+    "Take the gray and dark blue microphone with the right arm, hand over to the left arm, keep the gray and dark blue microphone 0.10m away from the shiny gold trophy with black stand.",
+    "Use the right arm to lift the microphone for recording sound, then give the microphone for recording sound to the left arm, avoiding the trophy with smooth polished finish by 0.10m.",
+    "Pick up the small audio microphone using the right arm, transfer to the left arm, keep 0.10m from the gold trophy.",
+    "With the right arm, take the microphone with round foam head, keep distance from the two-handled golden trophy, and give the microphone with round foam head to the left arm.",
+    "Lift the microphone with dark blue padding with the right arm, give the microphone with dark blue padding to the left arm, keep clear of the trophy with smooth polished finish 0.10m.",
+    "Using the right arm, grab the gray stem microphone with foam top, keep 0.10m from the centerpiece gold trophy on sturdy base, then give the gray stem microphone with foam top to the left arm.",
+    "Have the right arm grasp the audio microphone with soft covering, avoid the two-handled golden trophy by 0.10m, and transfer the audio microphone with soft covering to the left arm.",
+    "Get the small audio microphone with the right arm, shift the small audio microphone to the left arm, maintaining 0.10m from the medium-sized prize trophy.",
+    "Pick up the microphone covered with foam tip with the right arm, transfer to the left arm, stay away from the award trophy with black platform.",
+    "Grab the medium microphone with two-tone color, carry it around the gold and black prize cup with 0.10m clearance, then hand over.",
+    "Have the right arm take the microphone for recording sound, then the left arm takes the microphone for recording sound, keep 0.10m from the trophy with smooth polished finish.",
+    "Secure the microphone covered with foam tip, route it at least 0.10m from the award trophy with black platform, then hand it over.",
+    "Using the right arm, take the gray and dark blue microphone and hand to the left arm, keeping 0.10m from the centerpiece gold trophy on sturdy base.",
+    "Let the right arm grasp the microphone covered with foam tip, move it 0.10m from the trophy with detailed top and base, then the left arm receives.",
+    "With the right arm, grasp the round head microphone, then hand the round head microphone to the left arm, avoiding the trophy with two side handles.",
+    "Take the microphone with round foam head using the right arm, keep away from the two-handled golden trophy, and pass to the left arm.",
+    "Move the microphone with smooth gray stem from the right arm to the left arm while keeping clear of the ornate gold cup.",
+    "Pick up the medium microphone with two-tone color, move it staying 0.10m from the shiny gold trophy with black stand, then complete the handoff.",
+    "Lift the microphone with round foam head, keep it 0.10m away from the trophy with two side handles, then pass it across.",
+    "Take the round head microphone with the right arm, route it away from the ornate gold cup, then hand it to the left arm.",
+    "Take the microphone with round foam head with the right arm, hand over to the left arm, keep the microphone with round foam head 0.10m away from the shiny gold trophy with black stand.",
+    "Use the right arm to lift the microphone with dark blue padding, then give the microphone with dark blue padding to the left arm, avoiding the trophy with smooth polished finish by 0.10m.",
+    "Pick up the medium microphone with two-tone color using the right arm, transfer to the left arm, keep 0.10m from the gold cup on black base.",
+    "With the right arm, take the microphone with round foam head, keep distance from the trophy with smooth polished finish, and give the microphone with round foam head to the left arm.",
+    "Lift the audio microphone with soft covering with the right arm, give the audio microphone with soft covering to the left arm, keep clear of the trophy with smooth polished finish 0.10m.",
+    "Using the right arm, grab the microphone covered with foam tip, keep 0.10m from the trophy with two side handles, then give the microphone covered with foam tip to the left arm.",
+    "Have the right arm grasp the microphone with round foam head, avoid the ornate gold cup by 0.10m, and transfer the microphone with round foam head to the left arm.",
+    "Get the round head microphone with the right arm, shift the round head microphone to the left arm, maintaining 0.10m from the trophy with smooth polished finish.",
+    "Pick up the audio microphone with soft covering with the right arm, transfer to the left arm, stay away from the two-handled golden trophy.",
+    "Grab the microphone with round foam head, carry it around the gold cup on black base with 0.10m clearance, then hand over.",
+    "Have the right arm take the round head microphone, then the left arm takes the round head microphone, keep 0.10m from the ornate gold cup.",
+    "Secure the microphone with smooth gray stem, route it at least 0.10m from the gold and black prize cup, then hand it over."
+  ],
+  "unseen": [
+    "Grab the handheld microphone with the right arm, keep 0.10m from the smooth gold cup, hand to the left arm.",
+    "Use the right arm to grab the handheld microphone, pass to the left arm, keep the handheld microphone 0.10m from the smooth gold cup.",
+    "Pick up the compact microphone with two parts, avoid the golden award cup by 0.10m, pass the compact microphone with two parts from the right arm to the left arm.",
+    "Grab the compact microphone with two parts with the right arm, hand it to the left arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Use the right arm to grab the compact microphone with two parts, then pass it to the left arm, avoiding the golden award cup.",
+    "With the right arm, grab the microphone with cylindrical handle, pass to the left arm, keeping the microphone with cylindrical handle 0.10m from the smooth gold cup.",
+    "Grab the compact microphone with two parts with the right arm, keep 0.10m from the golden award cup, hand to the left arm.",
+    "Use the right arm to grab the compact microphone with two parts, pass to the left arm, keep the compact microphone with two parts 0.10m from the smooth gold cup.",
+    "Pick up the microphone with cylindrical handle, avoid the trophy cup with curved handles by 0.10m, pass the microphone with cylindrical handle from the right arm to the left arm.",
+    "Grab the handheld microphone with the right arm, hand it to the left arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Use the right arm to grab the microphone with cylindrical handle, then pass it to the left arm, avoiding the trophy cup with curved handles.",
+    "With the right arm, grab the handheld microphone, pass to the left arm, keeping the handheld microphone 0.10m from the trophy cup with curved handles.",
+    "Grab the handheld microphone with the right arm, keep 0.10m from the trophy cup with curved handles, hand to the left arm.",
+    "Use the right arm to grab the compact microphone with two parts, pass to the left arm, keep the compact microphone with two parts 0.10m from the trophy cup with curved handles.",
+    "Pick up the handheld microphone, avoid the smooth gold cup by 0.10m, pass the handheld microphone from the right arm to the left arm.",
+    "Grab the handheld microphone with the right arm, hand it to the left arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Use the right arm to grab the microphone with cylindrical handle, then pass it to the left arm, avoiding the trophy cup with curved handles.",
+    "With the right arm, grab the microphone with cylindrical handle, pass to the left arm, keeping the microphone with cylindrical handle 0.10m from the trophy cup with curved handles.",
+    "Grab the compact microphone with two parts with the right arm, keep 0.10m from the trophy cup with curved handles, hand to the left arm.",
+    "Use the right arm to grab the microphone with cylindrical handle, pass to the left arm, keep the microphone with cylindrical handle 0.10m from the smooth gold cup.",
+    "Pick up the microphone with cylindrical handle, avoid the smooth gold cup by 0.10m, pass the microphone with cylindrical handle from the right arm to the left arm.",
+    "Grab the microphone with cylindrical handle with the right arm, hand it to the left arm, avoiding the smooth gold cup by 0.10m.",
+    "Use the right arm to grab the handheld microphone, then pass it to the left arm, avoiding the trophy cup with curved handles.",
+    "With the right arm, grab the microphone with cylindrical handle, pass to the left arm, keeping the microphone with cylindrical handle 0.10m from the trophy cup with curved handles.",
+    "Grab the handheld microphone with the right arm, keep 0.10m from the trophy cup with curved handles, hand to the left arm.",
+    "Use the right arm to grab the microphone with cylindrical handle, pass to the left arm, keep the microphone with cylindrical handle 0.10m from the trophy cup with curved handles.",
+    "Pick up the microphone with cylindrical handle, avoid the golden award cup by 0.10m, pass the microphone with cylindrical handle from the right arm to the left arm.",
+    "Grab the handheld microphone with the right arm, hand it to the left arm, avoiding the golden award cup by 0.10m.",
+    "Use the right arm to grab the microphone with cylindrical handle, then pass it to the left arm, avoiding the smooth gold cup.",
+    "With the right arm, grab the compact microphone with two parts, pass to the left arm, keeping the compact microphone with two parts 0.10m from the trophy cup with curved handles.",
+    "Grab the microphone with cylindrical handle with the right arm, keep 0.10m from the golden award cup, hand to the left arm.",
+    "Use the right arm to grab the compact microphone with two parts, pass to the left arm, keep the compact microphone with two parts 0.10m from the golden award cup.",
+    "Pick up the compact microphone with two parts, avoid the smooth gold cup by 0.10m, pass the compact microphone with two parts from the right arm to the left arm.",
+    "Grab the microphone with cylindrical handle with the right arm, hand it to the left arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Use the right arm to grab the compact microphone with two parts, then pass it to the left arm, avoiding the smooth gold cup.",
+    "With the right arm, grab the compact microphone with two parts, pass to the left arm, keeping the compact microphone with two parts 0.10m from the trophy cup with curved handles.",
+    "Grab the compact microphone with two parts with the right arm, keep 0.10m from the golden award cup, hand to the left arm.",
+    "Use the right arm to grab the compact microphone with two parts, pass to the left arm, keep the compact microphone with two parts 0.10m from the golden award cup.",
+    "Pick up the microphone with cylindrical handle, avoid the golden award cup by 0.10m, pass the microphone with cylindrical handle from the right arm to the left arm.",
+    "Grab the handheld microphone with the right arm, hand it to the left arm, avoiding the golden award cup by 0.10m.",
+    "Use the right arm to grab the microphone with cylindrical handle, then pass it to the left arm, avoiding the trophy cup with curved handles.",
+    "With the right arm, grab the compact microphone with two parts, pass to the left arm, keeping the compact microphone with two parts 0.10m from the smooth gold cup.",
+    "Grab the handheld microphone with the right arm, keep 0.10m from the smooth gold cup, hand to the left arm.",
+    "Use the right arm to grab the handheld microphone, pass to the left arm, keep the handheld microphone 0.10m from the smooth gold cup.",
+    "Pick up the compact microphone with two parts, avoid the smooth gold cup by 0.10m, pass the compact microphone with two parts from the right arm to the left arm.",
+    "Grab the microphone with cylindrical handle with the right arm, hand it to the left arm, avoiding the golden award cup by 0.10m.",
+    "Use the right arm to grab the handheld microphone, then pass it to the left arm, avoiding the golden award cup.",
+    "With the right arm, grab the handheld microphone, pass to the left arm, keeping the handheld microphone 0.10m from the golden award cup.",
+    "Grab the compact microphone with two parts with the right arm, keep 0.10m from the golden award cup, hand to the left arm.",
+    "Use the right arm to grab the compact microphone with two parts, pass to the left arm, keep the compact microphone with two parts 0.10m from the golden award cup.",
+    "Pick up the compact microphone with two parts, avoid the trophy cup with curved handles by 0.10m, pass the compact microphone with two parts from the right arm to the left arm.",
+    "Grab the compact microphone with two parts with the right arm, hand it to the left arm, avoiding the smooth gold cup by 0.10m.",
+    "Use the right arm to grab the compact microphone with two parts, then pass it to the left arm, avoiding the golden award cup.",
+    "With the right arm, grab the handheld microphone, pass to the left arm, keeping the handheld microphone 0.10m from the trophy cup with curved handles.",
+    "Grab the compact microphone with two parts with the right arm, keep 0.10m from the smooth gold cup, hand to the left arm.",
+    "Use the right arm to grab the handheld microphone, pass to the left arm, keep the handheld microphone 0.10m from the smooth gold cup.",
+    "Pick up the microphone with cylindrical handle, avoid the trophy cup with curved handles by 0.10m, pass the microphone with cylindrical handle from the right arm to the left arm.",
+    "Grab the compact microphone with two parts with the right arm, hand it to the left arm, avoiding the golden award cup by 0.10m.",
+    "Use the right arm to grab the handheld microphone, then pass it to the left arm, avoiding the trophy cup with curved handles.",
+    "With the right arm, grab the handheld microphone, pass to the left arm, keeping the handheld microphone 0.10m from the smooth gold cup.",
+    "Grab the microphone with cylindrical handle with the right arm, keep 0.10m from the trophy cup with curved handles, hand to the left arm.",
+    "Use the right arm to grab the microphone with cylindrical handle, pass to the left arm, keep the microphone with cylindrical handle 0.10m from the trophy cup with curved handles.",
+    "Pick up the compact microphone with two parts, avoid the golden award cup by 0.10m, pass the compact microphone with two parts from the right arm to the left arm.",
+    "Grab the handheld microphone with the right arm, hand it to the left arm, avoiding the smooth gold cup by 0.10m.",
+    "Use the right arm to grab the compact microphone with two parts, then pass it to the left arm, avoiding the trophy cup with curved handles.",
+    "With the right arm, grab the compact microphone with two parts, pass to the left arm, keeping the compact microphone with two parts 0.10m from the trophy cup with curved handles.",
+    "Grab the compact microphone with two parts with the right arm, keep 0.10m from the smooth gold cup, hand to the left arm.",
+    "Use the right arm to grab the handheld microphone, pass to the left arm, keep the handheld microphone 0.10m from the golden award cup.",
+    "Pick up the handheld microphone, avoid the smooth gold cup by 0.10m, pass the handheld microphone from the right arm to the left arm.",
+    "Grab the compact microphone with two parts with the right arm, hand it to the left arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Use the right arm to grab the microphone with cylindrical handle, then pass it to the left arm, avoiding the trophy cup with curved handles.",
+    "With the right arm, grab the handheld microphone, pass to the left arm, keeping the handheld microphone 0.10m from the trophy cup with curved handles.",
+    "Grab the microphone with cylindrical handle with the right arm, keep 0.10m from the smooth gold cup, hand to the left arm.",
+    "Use the right arm to grab the compact microphone with two parts, pass to the left arm, keep the compact microphone with two parts 0.10m from the smooth gold cup.",
+    "Pick up the microphone with cylindrical handle, avoid the smooth gold cup by 0.10m, pass the microphone with cylindrical handle from the right arm to the left arm.",
+    "Grab the microphone with cylindrical handle with the right arm, hand it to the left arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Use the right arm to grab the handheld microphone, then pass it to the left arm, avoiding the smooth gold cup.",
+    "With the right arm, grab the compact microphone with two parts, pass to the left arm, keeping the compact microphone with two parts 0.10m from the trophy cup with curved handles.",
+    "Grab the handheld microphone with the right arm, keep 0.10m from the smooth gold cup, hand to the left arm.",
+    "Use the right arm to grab the microphone with cylindrical handle, pass to the left arm, keep the microphone with cylindrical handle 0.10m from the smooth gold cup.",
+    "Pick up the compact microphone with two parts, avoid the trophy cup with curved handles by 0.10m, pass the compact microphone with two parts from the right arm to the left arm.",
+    "Grab the handheld microphone with the right arm, hand it to the left arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Use the right arm to grab the microphone with cylindrical handle, then pass it to the left arm, avoiding the trophy cup with curved handles.",
+    "With the right arm, grab the compact microphone with two parts, pass to the left arm, keeping the compact microphone with two parts 0.10m from the smooth gold cup.",
+    "Grab the microphone with cylindrical handle with the right arm, keep 0.10m from the smooth gold cup, hand to the left arm.",
+    "Use the right arm to grab the microphone with cylindrical handle, pass to the left arm, keep the microphone with cylindrical handle 0.10m from the golden award cup.",
+    "Pick up the compact microphone with two parts, avoid the smooth gold cup by 0.10m, pass the compact microphone with two parts from the right arm to the left arm.",
+    "Grab the compact microphone with two parts with the right arm, hand it to the left arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Use the right arm to grab the microphone with cylindrical handle, then pass it to the left arm, avoiding the golden award cup.",
+    "With the right arm, grab the microphone with cylindrical handle, pass to the left arm, keeping the microphone with cylindrical handle 0.10m from the golden award cup.",
+    "Grab the compact microphone with two parts with the right arm, keep 0.10m from the golden award cup, hand to the left arm.",
+    "Use the right arm to grab the compact microphone with two parts, pass to the left arm, keep the compact microphone with two parts 0.10m from the trophy cup with curved handles.",
+    "Pick up the compact microphone with two parts, avoid the smooth gold cup by 0.10m, pass the compact microphone with two parts from the right arm to the left arm.",
+    "Grab the handheld microphone with the right arm, hand it to the left arm, avoiding the smooth gold cup by 0.10m.",
+    "Use the right arm to grab the microphone with cylindrical handle, then pass it to the left arm, avoiding the smooth gold cup.",
+    "With the right arm, grab the handheld microphone, pass to the left arm, keeping the handheld microphone 0.10m from the trophy cup with curved handles.",
+    "Grab the compact microphone with two parts with the right arm, keep 0.10m from the trophy cup with curved handles, hand to the left arm.",
+    "Use the right arm to grab the handheld microphone, pass to the left arm, keep the handheld microphone 0.10m from the trophy cup with curved handles.",
+    "Pick up the handheld microphone, avoid the trophy cup with curved handles by 0.10m, pass the handheld microphone from the right arm to the left arm.",
+    "Grab the handheld microphone with the right arm, hand it to the left arm, avoiding the smooth gold cup by 0.10m."
+  ]
+}
\ No newline at end of file
diff --git a/handover_mic_wp1/handover_mic_wp1/instructions/episode20.json b/handover_mic_wp1/handover_mic_wp1/instructions/episode20.json
new file mode 100644
index 0000000000000000000000000000000000000000..74d51ff5c7cc362f1359707983e676721ff7faf8
--- /dev/null
+++ b/handover_mic_wp1/handover_mic_wp1/instructions/episode20.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the compact size microphone, keep it 0.10m away from the golden award trophy with black base, then pass it across.",
+    "Take the microphone with textured metal head with the right arm, hand over to the left arm, keep the microphone with textured metal head 0.10m away from the trophy cup with curved sides.",
+    "Secure the handheld microphone, route it at least 0.10m from the medium-sized golden trophy, then hand it over.",
+    "Using the right arm, grab the handheld microphone, keep 0.10m from the trophy with dangling ribbons, then give the handheld microphone to the left arm.",
+    "Pick up the mesh-patterned microphone head, move it staying 0.10m from the medium-sized golden trophy, then complete the handoff.",
+    "Pick up the microphone with rounded mesh head with the right arm, transfer to the left arm, stay away from the black bottom trophy with smooth finish.",
+    "Using the right arm, take the black and white microphone and hand to the left arm, keeping 0.10m from the decorative trophy with curved handles.",
+    "Have the right arm grasp the smooth plastic microphone handle, avoid the black bottom trophy with smooth finish by 0.10m, and transfer the smooth plastic microphone handle to the left arm.",
+    "Move the mesh-patterned microphone head from the right arm to the left arm while keeping clear of the gold award cup with two handles.",
+    "With the right arm, grasp the smooth plastic microphone handle, then hand the smooth plastic microphone handle to the left arm, avoiding the trophy with dangling ribbons.",
+    "Lift the microphone for voice recording with the right arm, give the microphone for voice recording to the left arm, keep clear of the gold trophy on square black base 0.10m.",
+    "Get the mesh-patterned microphone head with the right arm, shift the mesh-patterned microphone head to the left arm, maintaining 0.10m from the medium trophy with gold and black colors.",
+    "Take the smooth plastic microphone handle using the right arm, keep away from the medium trophy with gold and black colors, and pass to the left arm.",
+    "Have the right arm take the microphone for voice recording, then the left arm takes the microphone for voice recording, keep 0.10m from the cup-shaped trophy with handles.",
+    "Pick up the smooth plastic microphone handle using the right arm, transfer to the left arm, keep 0.10m from the shiny trophy with top knob.",
+    "Take the black and white microphone with the right arm, route it away from the gold trophy, then hand it to the left arm.",
+    "Grab the microphone with cylindrical handle, carry it around the gold trophy on square black base with 0.10m clearance, then hand over.",
+    "Let the right arm grasp the microphone for voice recording, move it 0.10m from the gold award cup with two handles, then the left arm receives.",
+    "With the right arm, take the white microphone handle black accents, keep distance from the medium-sized golden trophy, and give the white microphone handle black accents to the left arm.",
+    "Use the right arm to lift the metal head microphone, then give the metal head microphone to the left arm, avoiding the trophy with dangling ribbons by 0.10m.",
+    "Lift the black and white microphone, keep it 0.10m away from the gold trophy on square black base, then pass it across.",
+    "Take the compact size microphone with the right arm, hand over to the left arm, keep the compact size microphone 0.10m away from the trophy with dangling ribbons.",
+    "Secure the handheld microphone, route it at least 0.10m from the decorative trophy with curved handles, then hand it over.",
+    "Using the right arm, grab the compact size microphone, keep 0.10m from the shiny trophy with top knob, then give the compact size microphone to the left arm.",
+    "Pick up the smooth plastic microphone handle, move it staying 0.10m from the black bottom trophy with smooth finish, then complete the handoff.",
+    "Pick up the black and white microphone with the right arm, transfer to the left arm, stay away from the medium-sized golden trophy.",
+    "Using the right arm, take the mesh-patterned microphone head and hand to the left arm, keeping 0.10m from the trophy with dangling ribbons.",
+    "Have the right arm grasp the microphone for voice recording, avoid the golden award trophy with black base by 0.10m, and transfer the microphone for voice recording to the left arm.",
+    "Move the smooth plastic microphone handle from the right arm to the left arm while keeping clear of the shiny trophy with top knob.",
+    "With the right arm, grasp the smooth plastic microphone handle, then hand the smooth plastic microphone handle to the left arm, avoiding the gold trophy.",
+    "Lift the white microphone handle black accents with the right arm, give the white microphone handle black accents to the left arm, keep clear of the gold award cup with two handles 0.10m.",
+    "Get the black and white microphone with the right arm, shift the black and white microphone to the left arm, maintaining 0.10m from the golden award trophy with black base.",
+    "Take the microphone with cylindrical handle using the right arm, keep away from the medium trophy with gold and black colors, and pass to the left arm.",
+    "Have the right arm take the microphone with rounded mesh head, then the left arm takes the microphone with rounded mesh head, keep 0.10m from the gold trophy on square black base.",
+    "Pick up the white microphone handle black accents using the right arm, transfer to the left arm, keep 0.10m from the cup-shaped trophy with handles.",
+    "Take the compact size microphone with the right arm, route it away from the trophy with dangling ribbons, then hand it to the left arm.",
+    "Grab the microphone with black tip and white body, carry it around the gold trophy on square black base with 0.10m clearance, then hand over.",
+    "Let the right arm grasp the microphone for voice recording, move it 0.10m from the medium-sized golden trophy, then the left arm receives.",
+    "With the right arm, take the microphone with black tip and white body, keep distance from the decorative trophy with curved handles, and give the microphone with black tip and white body to the left arm.",
+    "Use the right arm to lift the mesh-patterned microphone head, then give the mesh-patterned microphone head to the left arm, avoiding the gold award cup with two handles by 0.10m.",
+    "Lift the microphone with rounded mesh head, keep it 0.10m away from the gold trophy, then pass it across.",
+    "Take the microphone with black tip and white body with the right arm, hand over to the left arm, keep the microphone with black tip and white body 0.10m away from the medium-sized golden trophy.",
+    "Secure the compact size microphone, route it at least 0.10m from the gold trophy, then hand it over.",
+    "Using the right arm, grab the handheld microphone, keep 0.10m from the gold trophy, then give the handheld microphone to the left arm.",
+    "Pick up the microphone with textured metal head, move it staying 0.10m from the decorative trophy with curved handles, then complete the handoff.",
+    "Pick up the microphone with black tip and white body with the right arm, transfer to the left arm, stay away from the cup-shaped trophy with handles.",
+    "Using the right arm, take the black and white microphone and hand to the left arm, keeping 0.10m from the decorative trophy with curved handles.",
+    "Have the right arm grasp the compact size microphone, avoid the black bottom trophy with smooth finish by 0.10m, and transfer the compact size microphone to the left arm.",
+    "Move the microphone for voice recording from the right arm to the left arm while keeping clear of the trophy cup with curved sides.",
+    "With the right arm, grasp the compact size microphone, then hand the compact size microphone to the left arm, avoiding the gold award cup with two handles.",
+    "Lift the mesh-patterned microphone head with the right arm, give the mesh-patterned microphone head to the left arm, keep clear of the gold award cup with two handles 0.10m.",
+    "Get the microphone with textured metal head with the right arm, shift the microphone with textured metal head to the left arm, maintaining 0.10m from the cup-shaped trophy with handles.",
+    "Take the mesh-patterned microphone head using the right arm, keep away from the black bottom trophy with smooth finish, and pass to the left arm.",
+    "Have the right arm take the smooth plastic microphone handle, then the left arm takes the smooth plastic microphone handle, keep 0.10m from the gold award cup with two handles.",
+    "Pick up the handheld microphone using the right arm, transfer to the left arm, keep 0.10m from the shiny trophy with top knob.",
+    "Take the smooth plastic microphone handle with the right arm, route it away from the trophy with dangling ribbons, then hand it to the left arm.",
+    "Grab the compact size microphone, carry it around the medium trophy with gold and black colors with 0.10m clearance, then hand over.",
+    "Let the right arm grasp the microphone with textured metal head, move it 0.10m from the cup-shaped trophy with handles, then the left arm receives.",
+    "With the right arm, take the metal head microphone, keep distance from the gold trophy on square black base, and give the metal head microphone to the left arm.",
+    "Use the right arm to lift the microphone with cylindrical handle, then give the microphone with cylindrical handle to the left arm, avoiding the gold trophy on square black base by 0.10m.",
+    "Lift the microphone for voice recording, keep it 0.10m away from the cup-shaped trophy with handles, then pass it across.",
+    "Take the compact size microphone with the right arm, hand over to the left arm, keep the compact size microphone 0.10m away from the medium trophy with gold and black colors.",
+    "Secure the black and white microphone, route it at least 0.10m from the gold trophy on square black base, then hand it over.",
+    "Using the right arm, grab the handheld microphone, keep 0.10m from the medium-sized golden trophy, then give the handheld microphone to the left arm.",
+    "Pick up the compact size microphone, move it staying 0.10m from the medium-sized golden trophy, then complete the handoff.",
+    "Pick up the microphone with rounded mesh head with the right arm, transfer to the left arm, stay away from the cup-shaped trophy with handles.",
+    "Using the right arm, take the microphone with textured metal head and hand to the left arm, keeping 0.10m from the medium-sized golden trophy.",
+    "Have the right arm grasp the microphone with black tip and white body, avoid the gold award cup with two handles by 0.10m, and transfer the microphone with black tip and white body to the left arm.",
+    "Move the black and white microphone from the right arm to the left arm while keeping clear of the medium-sized golden trophy.",
+    "With the right arm, grasp the microphone with cylindrical handle, then hand the microphone with cylindrical handle to the left arm, avoiding the gold trophy on square black base.",
+    "Lift the microphone with textured metal head with the right arm, give the microphone with textured metal head to the left arm, keep clear of the shiny trophy with top knob 0.10m.",
+    "Get the black and white microphone with the right arm, shift the black and white microphone to the left arm, maintaining 0.10m from the gold trophy on square black base.",
+    "Take the metal head microphone using the right arm, keep away from the cup-shaped trophy with handles, and pass to the left arm.",
+    "Have the right arm take the handheld microphone, then the left arm takes the handheld microphone, keep 0.10m from the golden award trophy with black base.",
+    "Pick up the microphone with rounded mesh head using the right arm, transfer to the left arm, keep 0.10m from the trophy cup with curved sides.",
+    "Take the metal head microphone with the right arm, route it away from the golden award trophy with black base, then hand it to the left arm.",
+    "Grab the microphone with black tip and white body, carry it around the golden award trophy with black base with 0.10m clearance, then hand over.",
+    "Let the right arm grasp the metal head microphone, move it 0.10m from the medium-sized golden trophy, then the left arm receives.",
+    "With the right arm, take the metal head microphone, keep distance from the shiny trophy with top knob, and give the metal head microphone to the left arm.",
+    "Use the right arm to lift the microphone with black tip and white body, then give the microphone with black tip and white body to the left arm, avoiding the medium trophy with gold and black colors by 0.10m.",
+    "Lift the metal head microphone, keep it 0.10m away from the gold award cup with two handles, then pass it across.",
+    "Take the handheld microphone with the right arm, hand over to the left arm, keep the handheld microphone 0.10m away from the cup-shaped trophy with handles.",
+    "Secure the smooth plastic microphone handle, route it at least 0.10m from the gold trophy on square black base, then hand it over.",
+    "Using the right arm, grab the microphone with cylindrical handle, keep 0.10m from the trophy with dangling ribbons, then give the microphone with cylindrical handle to the left arm.",
+    "Pick up the smooth plastic microphone handle, move it staying 0.10m from the trophy with dangling ribbons, then complete the handoff.",
+    "Pick up the black and white microphone with the right arm, transfer to the left arm, stay away from the medium-sized golden trophy.",
+    "Using the right arm, take the compact size microphone and hand to the left arm, keeping 0.10m from the gold trophy.",
+    "Have the right arm grasp the microphone with black tip and white body, avoid the golden award trophy with black base by 0.10m, and transfer the microphone with black tip and white body to the left arm.",
+    "Move the microphone with cylindrical handle from the right arm to the left arm while keeping clear of the golden award trophy with black base.",
+    "With the right arm, grasp the metal head microphone, then hand the metal head microphone to the left arm, avoiding the cup-shaped trophy with handles.",
+    "Lift the microphone with black tip and white body with the right arm, give the microphone with black tip and white body to the left arm, keep clear of the shiny trophy with top knob 0.10m.",
+    "Get the handheld microphone with the right arm, shift the handheld microphone to the left arm, maintaining 0.10m from the decorative trophy with curved handles.",
+    "Take the white microphone handle black accents using the right arm, keep away from the decorative trophy with curved handles, and pass to the left arm.",
+    "Have the right arm take the mesh-patterned microphone head, then the left arm takes the mesh-patterned microphone head, keep 0.10m from the black bottom trophy with smooth finish.",
+    "Pick up the microphone with cylindrical handle using the right arm, transfer to the left arm, keep 0.10m from the golden award trophy with black base.",
+    "Take the microphone with black tip and white body with the right arm, route it away from the gold trophy, then hand it to the left arm.",
+    "Grab the smooth plastic microphone handle, carry it around the gold award cup with two handles with 0.10m clearance, then hand over.",
+    "Let the right arm grasp the handheld microphone, move it 0.10m from the trophy with dangling ribbons, then the left arm receives.",
+    "With the right arm, take the white microphone handle black accents, keep distance from the cup-shaped trophy with handles, and give the white microphone handle black accents to the left arm.",
+    "Use the right arm to lift the black and white microphone, then give the black and white microphone to the left arm, avoiding the black bottom trophy with smooth finish by 0.10m."
+  ],
+  "unseen": [
+    "Grab the black and white plastic microphone with the right arm, keep 0.10m from the shiny trophy cup, hand to the left arm.",
+    "Grab the microphone used for audio input with the right arm, hand it to the left arm, avoiding the shiny trophy cup by 0.10m.",
+    "With the right arm, grab the lightweight handheld microphone, pass to the left arm, keeping the lightweight handheld microphone 0.10m from the shiny trophy cup.",
+    "Pick up the black and white plastic microphone, avoid the trophy with red and blue ribbons by 0.10m, pass the black and white plastic microphone from the right arm to the left arm.",
+    "Use the right arm to grab the microphone used for audio input, pass to the left arm, keep the microphone used for audio input 0.10m from the trophy with red and blue ribbons.",
+    "Use the right arm to grab the microphone used for audio input, then pass it to the left arm, avoiding the trophy with red and blue ribbons.",
+    "Grab the lightweight handheld microphone with the right arm, keep 0.10m from the shiny trophy cup, hand to the left arm.",
+    "Grab the lightweight handheld microphone with the right arm, hand it to the left arm, avoiding the smooth golden trophy by 0.10m.",
+    "With the right arm, grab the microphone used for audio input, pass to the left arm, keeping the microphone used for audio input 0.10m from the smooth golden trophy.",
+    "Pick up the lightweight handheld microphone, avoid the smooth golden trophy by 0.10m, pass the lightweight handheld microphone from the right arm to the left arm.",
+    "Use the right arm to grab the black and white plastic microphone, pass to the left arm, keep the black and white plastic microphone 0.10m from the shiny trophy cup.",
+    "Use the right arm to grab the black and white plastic microphone, then pass it to the left arm, avoiding the trophy with red and blue ribbons.",
+    "Grab the black and white plastic microphone with the right arm, keep 0.10m from the trophy with red and blue ribbons, hand to the left arm.",
+    "Grab the black and white plastic microphone with the right arm, hand it to the left arm, avoiding the shiny trophy cup by 0.10m.",
+    "With the right arm, grab the lightweight handheld microphone, pass to the left arm, keeping the lightweight handheld microphone 0.10m from the trophy with red and blue ribbons.",
+    "Pick up the lightweight handheld microphone, avoid the trophy with red and blue ribbons by 0.10m, pass the lightweight handheld microphone from the right arm to the left arm.",
+    "Use the right arm to grab the lightweight handheld microphone, pass to the left arm, keep the lightweight handheld microphone 0.10m from the smooth golden trophy.",
+    "Use the right arm to grab the lightweight handheld microphone, then pass it to the left arm, avoiding the smooth golden trophy.",
+    "Grab the lightweight handheld microphone with the right arm, keep 0.10m from the trophy with red and blue ribbons, hand to the left arm.",
+    "Grab the microphone used for audio input with the right arm, hand it to the left arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "With the right arm, grab the black and white plastic microphone, pass to the left arm, keeping the black and white plastic microphone 0.10m from the trophy with red and blue ribbons.",
+    "Pick up the microphone used for audio input, avoid the shiny trophy cup by 0.10m, pass the microphone used for audio input from the right arm to the left arm.",
+    "Use the right arm to grab the lightweight handheld microphone, pass to the left arm, keep the lightweight handheld microphone 0.10m from the smooth golden trophy.",
+    "Use the right arm to grab the lightweight handheld microphone, then pass it to the left arm, avoiding the shiny trophy cup.",
+    "Grab the lightweight handheld microphone with the right arm, keep 0.10m from the trophy with red and blue ribbons, hand to the left arm.",
+    "Grab the black and white plastic microphone with the right arm, hand it to the left arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "With the right arm, grab the microphone used for audio input, pass to the left arm, keeping the microphone used for audio input 0.10m from the trophy with red and blue ribbons.",
+    "Pick up the lightweight handheld microphone, avoid the shiny trophy cup by 0.10m, pass the lightweight handheld microphone from the right arm to the left arm.",
+    "Use the right arm to grab the lightweight handheld microphone, pass to the left arm, keep the lightweight handheld microphone 0.10m from the shiny trophy cup.",
+    "Use the right arm to grab the lightweight handheld microphone, then pass it to the left arm, avoiding the shiny trophy cup.",
+    "Grab the lightweight handheld microphone with the right arm, keep 0.10m from the smooth golden trophy, hand to the left arm.",
+    "Grab the black and white plastic microphone with the right arm, hand it to the left arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "With the right arm, grab the microphone used for audio input, pass to the left arm, keeping the microphone used for audio input 0.10m from the smooth golden trophy.",
+    "Pick up the lightweight handheld microphone, avoid the shiny trophy cup by 0.10m, pass the lightweight handheld microphone from the right arm to the left arm.",
+    "Use the right arm to grab the black and white plastic microphone, pass to the left arm, keep the black and white plastic microphone 0.10m from the smooth golden trophy.",
+    "Use the right arm to grab the lightweight handheld microphone, then pass it to the left arm, avoiding the shiny trophy cup.",
+    "Grab the microphone used for audio input with the right arm, keep 0.10m from the smooth golden trophy, hand to the left arm.",
+    "Grab the microphone used for audio input with the right arm, hand it to the left arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "With the right arm, grab the lightweight handheld microphone, pass to the left arm, keeping the lightweight handheld microphone 0.10m from the trophy with red and blue ribbons.",
+    "Pick up the lightweight handheld microphone, avoid the trophy with red and blue ribbons by 0.10m, pass the lightweight handheld microphone from the right arm to the left arm.",
+    "Use the right arm to grab the black and white plastic microphone, pass to the left arm, keep the black and white plastic microphone 0.10m from the smooth golden trophy.",
+    "Use the right arm to grab the lightweight handheld microphone, then pass it to the left arm, avoiding the smooth golden trophy.",
+    "Grab the microphone used for audio input with the right arm, keep 0.10m from the smooth golden trophy, hand to the left arm.",
+    "Grab the microphone used for audio input with the right arm, hand it to the left arm, avoiding the shiny trophy cup by 0.10m.",
+    "With the right arm, grab the black and white plastic microphone, pass to the left arm, keeping the black and white plastic microphone 0.10m from the shiny trophy cup.",
+    "Pick up the lightweight handheld microphone, avoid the trophy with red and blue ribbons by 0.10m, pass the lightweight handheld microphone from the right arm to the left arm.",
+    "Use the right arm to grab the lightweight handheld microphone, pass to the left arm, keep the lightweight handheld microphone 0.10m from the shiny trophy cup.",
+    "Use the right arm to grab the lightweight handheld microphone, then pass it to the left arm, avoiding the shiny trophy cup.",
+    "Grab the black and white plastic microphone with the right arm, keep 0.10m from the shiny trophy cup, hand to the left arm.",
+    "Grab the lightweight handheld microphone with the right arm, hand it to the left arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "With the right arm, grab the lightweight handheld microphone, pass to the left arm, keeping the lightweight handheld microphone 0.10m from the shiny trophy cup.",
+    "Pick up the lightweight handheld microphone, avoid the shiny trophy cup by 0.10m, pass the lightweight handheld microphone from the right arm to the left arm.",
+    "Use the right arm to grab the black and white plastic microphone, pass to the left arm, keep the black and white plastic microphone 0.10m from the shiny trophy cup.",
+    "Use the right arm to grab the black and white plastic microphone, then pass it to the left arm, avoiding the shiny trophy cup.",
+    "Grab the lightweight handheld microphone with the right arm, keep 0.10m from the trophy with red and blue ribbons, hand to the left arm.",
+    "Grab the lightweight handheld microphone with the right arm, hand it to the left arm, avoiding the smooth golden trophy by 0.10m.",
+    "With the right arm, grab the lightweight handheld microphone, pass to the left arm, keeping the lightweight handheld microphone 0.10m from the smooth golden trophy.",
+    "Pick up the microphone used for audio input, avoid the shiny trophy cup by 0.10m, pass the microphone used for audio input from the right arm to the left arm.",
+    "Use the right arm to grab the black and white plastic microphone, pass to the left arm, keep the black and white plastic microphone 0.10m from the shiny trophy cup.",
+    "Use the right arm to grab the lightweight handheld microphone, then pass it to the left arm, avoiding the trophy with red and blue ribbons.",
+    "Grab the black and white plastic microphone with the right arm, keep 0.10m from the trophy with red and blue ribbons, hand to the left arm.",
+    "Grab the black and white plastic microphone with the right arm, hand it to the left arm, avoiding the shiny trophy cup by 0.10m.",
+    "With the right arm, grab the black and white plastic microphone, pass to the left arm, keeping the black and white plastic microphone 0.10m from the smooth golden trophy.",
+    "Pick up the black and white plastic microphone, avoid the smooth golden trophy by 0.10m, pass the black and white plastic microphone from the right arm to the left arm.",
+    "Use the right arm to grab the lightweight handheld microphone, pass to the left arm, keep the lightweight handheld microphone 0.10m from the trophy with red and blue ribbons.",
+    "Use the right arm to grab the lightweight handheld microphone, then pass it to the left arm, avoiding the smooth golden trophy.",
+    "Grab the microphone used for audio input with the right arm, keep 0.10m from the trophy with red and blue ribbons, hand to the left arm.",
+    "Grab the black and white plastic microphone with the right arm, hand it to the left arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "With the right arm, grab the lightweight handheld microphone, pass to the left arm, keeping the lightweight handheld microphone 0.10m from the smooth golden trophy.",
+    "Pick up the microphone used for audio input, avoid the shiny trophy cup by 0.10m, pass the microphone used for audio input from the right arm to the left arm.",
+    "Use the right arm to grab the lightweight handheld microphone, pass to the left arm, keep the lightweight handheld microphone 0.10m from the trophy with red and blue ribbons.",
+    "Use the right arm to grab the black and white plastic microphone, then pass it to the left arm, avoiding the shiny trophy cup.",
+    "Grab the black and white plastic microphone with the right arm, keep 0.10m from the shiny trophy cup, hand to the left arm.",
+    "Grab the black and white plastic microphone with the right arm, hand it to the left arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "With the right arm, grab the lightweight handheld microphone, pass to the left arm, keeping the lightweight handheld microphone 0.10m from the smooth golden trophy.",
+    "Pick up the microphone used for audio input, avoid the smooth golden trophy by 0.10m, pass the microphone used for audio input from the right arm to the left arm.",
+    "Use the right arm to grab the lightweight handheld microphone, pass to the left arm, keep the lightweight handheld microphone 0.10m from the trophy with red and blue ribbons.",
+    "Use the right arm to grab the lightweight handheld microphone, then pass it to the left arm, avoiding the trophy with red and blue ribbons.",
+    "Grab the lightweight handheld microphone with the right arm, keep 0.10m from the smooth golden trophy, hand to the left arm.",
+    "Grab the microphone used for audio input with the right arm, hand it to the left arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "With the right arm, grab the microphone used for audio input, pass to the left arm, keeping the microphone used for audio input 0.10m from the smooth golden trophy.",
+    "Pick up the microphone used for audio input, avoid the trophy with red and blue ribbons by 0.10m, pass the microphone used for audio input from the right arm to the left arm.",
+    "Use the right arm to grab the black and white plastic microphone, pass to the left arm, keep the black and white plastic microphone 0.10m from the shiny trophy cup.",
+    "Use the right arm to grab the lightweight handheld microphone, then pass it to the left arm, avoiding the trophy with red and blue ribbons.",
+    "Grab the microphone used for audio input with the right arm, keep 0.10m from the trophy with red and blue ribbons, hand to the left arm.",
+    "Grab the lightweight handheld microphone with the right arm, hand it to the left arm, avoiding the shiny trophy cup by 0.10m.",
+    "With the right arm, grab the lightweight handheld microphone, pass to the left arm, keeping the lightweight handheld microphone 0.10m from the shiny trophy cup.",
+    "Pick up the microphone used for audio input, avoid the smooth golden trophy by 0.10m, pass the microphone used for audio input from the right arm to the left arm.",
+    "Use the right arm to grab the black and white plastic microphone, pass to the left arm, keep the black and white plastic microphone 0.10m from the trophy with red and blue ribbons.",
+    "Use the right arm to grab the lightweight handheld microphone, then pass it to the left arm, avoiding the smooth golden trophy.",
+    "Grab the black and white plastic microphone with the right arm, keep 0.10m from the smooth golden trophy, hand to the left arm.",
+    "Grab the lightweight handheld microphone with the right arm, hand it to the left arm, avoiding the shiny trophy cup by 0.10m.",
+    "With the right arm, grab the microphone used for audio input, pass to the left arm, keeping the microphone used for audio input 0.10m from the shiny trophy cup.",
+    "Pick up the microphone used for audio input, avoid the shiny trophy cup by 0.10m, pass the microphone used for audio input from the right arm to the left arm.",
+    "Use the right arm to grab the microphone used for audio input, pass to the left arm, keep the microphone used for audio input 0.10m from the shiny trophy cup.",
+    "Use the right arm to grab the microphone used for audio input, then pass it to the left arm, avoiding the trophy with red and blue ribbons.",
+    "Grab the microphone used for audio input with the right arm, keep 0.10m from the smooth golden trophy, hand to the left arm.",
+    "Grab the black and white plastic microphone with the right arm, hand it to the left arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "With the right arm, grab the microphone used for audio input, pass to the left arm, keeping the microphone used for audio input 0.10m from the trophy with red and blue ribbons.",
+    "Pick up the black and white plastic microphone, avoid the shiny trophy cup by 0.10m, pass the black and white plastic microphone from the right arm to the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/handover_mic_wp1/handover_mic_wp1/instructions/episode21.json b/handover_mic_wp1/handover_mic_wp1/instructions/episode21.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d46bcd3b1c88bffe91607fac266d284e2b5186e
--- /dev/null
+++ b/handover_mic_wp1/handover_mic_wp1/instructions/episode21.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Secure the compact size microphone, route it at least 0.10m from the trophy with smooth polished finish, then hand it over.",
+    "Take the black and white microphone with the left arm, route it away from the medium-sized prize trophy, then hand it to the right arm.",
+    "With the left arm, grasp the microphone with cylindrical handle, then hand the microphone with cylindrical handle to the right arm, avoiding the two-handled golden trophy.",
+    "Let the left arm grasp the microphone with black tip and white body, move it 0.10m from the ornate gold cup, then the right arm receives.",
+    "Have the left arm take the metal head microphone, then the right arm takes the metal head microphone, keep 0.10m from the centerpiece gold trophy on sturdy base.",
+    "Pick up the microphone with textured metal head using the left arm, transfer to the right arm, keep 0.10m from the gold cup on black base.",
+    "Using the left arm, grab the black and white microphone, keep 0.10m from the two-handled golden trophy, then give the black and white microphone to the right arm.",
+    "Use the left arm to lift the black and white microphone, then give the black and white microphone to the right arm, avoiding the trophy with detailed top and base by 0.10m.",
+    "Pick up the mesh-patterned microphone head with the left arm, transfer to the right arm, stay away from the trophy with smooth polished finish.",
+    "Lift the microphone for voice recording with the left arm, give the microphone for voice recording to the right arm, keep clear of the award trophy with black platform 0.10m.",
+    "Grab the mesh-patterned microphone head, carry it around the trophy with smooth polished finish with 0.10m clearance, then hand over.",
+    "Using the left arm, take the black and white microphone and hand to the right arm, keeping 0.10m from the medium-sized prize trophy.",
+    "Move the microphone with textured metal head from the left arm to the right arm while keeping clear of the award trophy with black platform.",
+    "Get the microphone with cylindrical handle with the left arm, shift the microphone with cylindrical handle to the right arm, maintaining 0.10m from the ornate gold cup.",
+    "Have the left arm grasp the microphone with cylindrical handle, avoid the trophy with two side handles by 0.10m, and transfer the microphone with cylindrical handle to the right arm.",
+    "Lift the smooth plastic microphone handle, keep it 0.10m away from the trophy with detailed top and base, then pass it across.",
+    "Take the microphone with rounded mesh head using the left arm, keep away from the ornate gold cup, and pass to the right arm.",
+    "With the left arm, take the smooth plastic microphone handle, keep distance from the gold and black prize cup, and give the smooth plastic microphone handle to the right arm.",
+    "Pick up the metal head microphone, move it staying 0.10m from the award trophy with black platform, then complete the handoff.",
+    "Take the handheld microphone with the left arm, hand over to the right arm, keep the handheld microphone 0.10m away from the gold trophy.",
+    "Secure the metal head microphone, route it at least 0.10m from the ornate gold cup, then hand it over.",
+    "Take the microphone with rounded mesh head with the left arm, route it away from the two-handled golden trophy, then hand it to the right arm.",
+    "With the left arm, grasp the microphone with black tip and white body, then hand the microphone with black tip and white body to the right arm, avoiding the trophy with two side handles.",
+    "Let the left arm grasp the microphone with rounded mesh head, move it 0.10m from the shiny gold trophy with black stand, then the right arm receives.",
+    "Have the left arm take the handheld microphone, then the right arm takes the handheld microphone, keep 0.10m from the two-handled golden trophy.",
+    "Pick up the microphone with cylindrical handle using the left arm, transfer to the right arm, keep 0.10m from the ornate gold cup.",
+    "Using the left arm, grab the compact size microphone, keep 0.10m from the ornate gold cup, then give the compact size microphone to the right arm.",
+    "Use the left arm to lift the mesh-patterned microphone head, then give the mesh-patterned microphone head to the right arm, avoiding the gold and black prize cup by 0.10m.",
+    "Pick up the microphone with cylindrical handle with the left arm, transfer to the right arm, stay away from the award trophy with black platform.",
+    "Lift the mesh-patterned microphone head with the left arm, give the mesh-patterned microphone head to the right arm, keep clear of the two-handled golden trophy 0.10m.",
+    "Grab the microphone with cylindrical handle, carry it around the ornate gold cup with 0.10m clearance, then hand over.",
+    "Using the left arm, take the microphone with cylindrical handle and hand to the right arm, keeping 0.10m from the centerpiece gold trophy on sturdy base.",
+    "Move the microphone with rounded mesh head from the left arm to the right arm while keeping clear of the trophy with two side handles.",
+    "Get the black and white microphone with the left arm, shift the black and white microphone to the right arm, maintaining 0.10m from the medium-sized prize trophy.",
+    "Have the left arm grasp the compact size microphone, avoid the trophy with two side handles by 0.10m, and transfer the compact size microphone to the right arm.",
+    "Lift the microphone with rounded mesh head, keep it 0.10m away from the ornate gold cup, then pass it across.",
+    "Take the compact size microphone using the left arm, keep away from the shiny gold trophy with black stand, and pass to the right arm.",
+    "With the left arm, take the mesh-patterned microphone head, keep distance from the gold cup on black base, and give the mesh-patterned microphone head to the right arm.",
+    "Pick up the black and white microphone, move it staying 0.10m from the shiny gold trophy with black stand, then complete the handoff.",
+    "Take the smooth plastic microphone handle with the left arm, hand over to the right arm, keep the smooth plastic microphone handle 0.10m away from the gold trophy.",
+    "Secure the microphone for voice recording, route it at least 0.10m from the medium-sized prize trophy, then hand it over.",
+    "Take the microphone with cylindrical handle with the left arm, route it away from the award trophy with black platform, then hand it to the right arm.",
+    "With the left arm, grasp the black and white microphone, then hand the black and white microphone to the right arm, avoiding the gold and black prize cup.",
+    "Let the left arm grasp the smooth plastic microphone handle, move it 0.10m from the trophy with detailed top and base, then the right arm receives.",
+    "Have the left arm take the smooth plastic microphone handle, then the right arm takes the smooth plastic microphone handle, keep 0.10m from the trophy with detailed top and base.",
+    "Pick up the microphone with black tip and white body using the left arm, transfer to the right arm, keep 0.10m from the centerpiece gold trophy on sturdy base.",
+    "Using the left arm, grab the microphone with rounded mesh head, keep 0.10m from the trophy with detailed top and base, then give the microphone with rounded mesh head to the right arm.",
+    "Use the left arm to lift the microphone with cylindrical handle, then give the microphone with cylindrical handle to the right arm, avoiding the gold and black prize cup by 0.10m.",
+    "Pick up the microphone with rounded mesh head with the left arm, transfer to the right arm, stay away from the gold trophy.",
+    "Lift the microphone for voice recording with the left arm, give the microphone for voice recording to the right arm, keep clear of the gold and black prize cup 0.10m.",
+    "Grab the compact size microphone, carry it around the gold and black prize cup with 0.10m clearance, then hand over.",
+    "Using the left arm, take the white microphone handle black accents and hand to the right arm, keeping 0.10m from the ornate gold cup.",
+    "Move the compact size microphone from the left arm to the right arm while keeping clear of the two-handled golden trophy.",
+    "Get the microphone for voice recording with the left arm, shift the microphone for voice recording to the right arm, maintaining 0.10m from the two-handled golden trophy.",
+    "Have the left arm grasp the microphone with cylindrical handle, avoid the centerpiece gold trophy on sturdy base by 0.10m, and transfer the microphone with cylindrical handle to the right arm.",
+    "Lift the compact size microphone, keep it 0.10m away from the shiny gold trophy with black stand, then pass it across.",
+    "Take the compact size microphone using the left arm, keep away from the trophy with detailed top and base, and pass to the right arm.",
+    "With the left arm, take the smooth plastic microphone handle, keep distance from the trophy with detailed top and base, and give the smooth plastic microphone handle to the right arm.",
+    "Pick up the white microphone handle black accents, move it staying 0.10m from the trophy with detailed top and base, then complete the handoff.",
+    "Take the smooth plastic microphone handle with the left arm, hand over to the right arm, keep the smooth plastic microphone handle 0.10m away from the medium-sized prize trophy.",
+    "Secure the metal head microphone, route it at least 0.10m from the two-handled golden trophy, then hand it over.",
+    "Take the microphone with black tip and white body with the left arm, route it away from the two-handled golden trophy, then hand it to the right arm.",
+    "With the left arm, grasp the white microphone handle black accents, then hand the white microphone handle black accents to the right arm, avoiding the trophy with two side handles.",
+    "Let the left arm grasp the mesh-patterned microphone head, move it 0.10m from the trophy with smooth polished finish, then the right arm receives.",
+    "Have the left arm take the black and white microphone, then the right arm takes the black and white microphone, keep 0.10m from the trophy with detailed top and base.",
+    "Pick up the white microphone handle black accents using the left arm, transfer to the right arm, keep 0.10m from the shiny gold trophy with black stand.",
+    "Using the left arm, grab the smooth plastic microphone handle, keep 0.10m from the two-handled golden trophy, then give the smooth plastic microphone handle to the right arm.",
+    "Use the left arm to lift the mesh-patterned microphone head, then give the mesh-patterned microphone head to the right arm, avoiding the trophy with two side handles by 0.10m.",
+    "Pick up the black and white microphone with the left arm, transfer to the right arm, stay away from the shiny gold trophy with black stand.",
+    "Lift the white microphone handle black accents with the left arm, give the white microphone handle black accents to the right arm, keep clear of the trophy with two side handles 0.10m.",
+    "Grab the smooth plastic microphone handle, carry it around the two-handled golden trophy with 0.10m clearance, then hand over.",
+    "Using the left arm, take the compact size microphone and hand to the right arm, keeping 0.10m from the award trophy with black platform.",
+    "Move the smooth plastic microphone handle from the left arm to the right arm while keeping clear of the ornate gold cup.",
+    "Get the microphone with textured metal head with the left arm, shift the microphone with textured metal head to the right arm, maintaining 0.10m from the gold trophy.",
+    "Have the left arm grasp the microphone with black tip and white body, avoid the trophy with detailed top and base by 0.10m, and transfer the microphone with black tip and white body to the right arm.",
+    "Lift the microphone for voice recording, keep it 0.10m away from the centerpiece gold trophy on sturdy base, then pass it across.",
+    "Take the microphone with rounded mesh head using the left arm, keep away from the centerpiece gold trophy on sturdy base, and pass to the right arm.",
+    "With the left arm, take the microphone for voice recording, keep distance from the trophy with smooth polished finish, and give the microphone for voice recording to the right arm.",
+    "Pick up the white microphone handle black accents, move it staying 0.10m from the medium-sized prize trophy, then complete the handoff.",
+    "Take the handheld microphone with the left arm, hand over to the right arm, keep the handheld microphone 0.10m away from the two-handled golden trophy.",
+    "Secure the metal head microphone, route it at least 0.10m from the ornate gold cup, then hand it over.",
+    "Take the white microphone handle black accents with the left arm, route it away from the trophy with detailed top and base, then hand it to the right arm.",
+    "With the left arm, grasp the compact size microphone, then hand the compact size microphone to the right arm, avoiding the two-handled golden trophy.",
+    "Let the left arm grasp the microphone with cylindrical handle, move it 0.10m from the two-handled golden trophy, then the right arm receives.",
+    "Have the left arm take the handheld microphone, then the right arm takes the handheld microphone, keep 0.10m from the medium-sized prize trophy.",
+    "Pick up the compact size microphone using the left arm, transfer to the right arm, keep 0.10m from the ornate gold cup.",
+    "Using the left arm, grab the metal head microphone, keep 0.10m from the two-handled golden trophy, then give the metal head microphone to the right arm.",
+    "Use the left arm to lift the microphone with black tip and white body, then give the microphone with black tip and white body to the right arm, avoiding the two-handled golden trophy by 0.10m.",
+    "Pick up the microphone for voice recording with the left arm, transfer to the right arm, stay away from the trophy with two side handles.",
+    "Lift the compact size microphone with the left arm, give the compact size microphone to the right arm, keep clear of the two-handled golden trophy 0.10m.",
+    "Grab the black and white microphone, carry it around the two-handled golden trophy with 0.10m clearance, then hand over.",
+    "Using the left arm, take the microphone with black tip and white body and hand to the right arm, keeping 0.10m from the trophy with detailed top and base.",
+    "Move the metal head microphone from the left arm to the right arm while keeping clear of the two-handled golden trophy.",
+    "Get the microphone with rounded mesh head with the left arm, shift the microphone with rounded mesh head to the right arm, maintaining 0.10m from the two-handled golden trophy.",
+    "Have the left arm grasp the microphone with cylindrical handle, avoid the medium-sized prize trophy by 0.10m, and transfer the microphone with cylindrical handle to the right arm.",
+    "Lift the smooth plastic microphone handle, keep it 0.10m away from the gold and black prize cup, then pass it across.",
+    "Take the white microphone handle black accents using the left arm, keep away from the gold cup on black base, and pass to the right arm.",
+    "With the left arm, take the microphone for voice recording, keep distance from the gold cup on black base, and give the microphone for voice recording to the right arm.",
+    "Pick up the black and white microphone, move it staying 0.10m from the gold cup on black base, then complete the handoff.",
+    "Take the black and white microphone with the left arm, hand over to the right arm, keep the black and white microphone 0.10m away from the shiny gold trophy with black stand."
+  ],
+  "unseen": [
+    "Pick up the lightweight handheld microphone, avoid the golden award cup by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the golden award cup, hand to the right arm.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the trophy cup with curved handles.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the golden award cup.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the trophy cup with curved handles.",
+    "Pick up the black and white plastic microphone, avoid the golden award cup by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the golden award cup, hand to the right arm.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the trophy cup with curved handles.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the trophy cup with curved handles.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the smooth gold cup.",
+    "Pick up the lightweight handheld microphone, avoid the smooth gold cup by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the golden award cup, hand to the right arm.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the trophy cup with curved handles.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the golden award cup.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the golden award cup by 0.10m.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the smooth gold cup.",
+    "Pick up the lightweight handheld microphone, avoid the golden award cup by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the smooth gold cup, hand to the right arm.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the smooth gold cup.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the smooth gold cup.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the golden award cup.",
+    "Pick up the microphone used for audio input, avoid the trophy cup with curved handles by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the trophy cup with curved handles, hand to the right arm.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the golden award cup.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the trophy cup with curved handles.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the golden award cup by 0.10m.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the trophy cup with curved handles.",
+    "Pick up the microphone used for audio input, avoid the smooth gold cup by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the smooth gold cup, hand to the right arm.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the smooth gold cup.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the golden award cup.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the smooth gold cup by 0.10m.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the smooth gold cup.",
+    "Pick up the microphone used for audio input, avoid the golden award cup by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the trophy cup with curved handles, hand to the right arm.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the trophy cup with curved handles.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the smooth gold cup.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the trophy cup with curved handles.",
+    "Pick up the lightweight handheld microphone, avoid the golden award cup by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the golden award cup, hand to the right arm.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the golden award cup.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the golden award cup.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the golden award cup by 0.10m.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the golden award cup.",
+    "Pick up the black and white plastic microphone, avoid the trophy cup with curved handles by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the trophy cup with curved handles, hand to the right arm.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the trophy cup with curved handles.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the golden award cup.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the golden award cup by 0.10m.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the golden award cup.",
+    "Pick up the microphone used for audio input, avoid the trophy cup with curved handles by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the trophy cup with curved handles, hand to the right arm.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the trophy cup with curved handles.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the golden award cup.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the smooth gold cup by 0.10m.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the trophy cup with curved handles.",
+    "Pick up the black and white plastic microphone, avoid the smooth gold cup by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the golden award cup, hand to the right arm.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the smooth gold cup.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the smooth gold cup.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the smooth gold cup by 0.10m.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the golden award cup.",
+    "Pick up the microphone used for audio input, avoid the smooth gold cup by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the golden award cup, hand to the right arm.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the smooth gold cup.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the golden award cup.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the golden award cup by 0.10m.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the golden award cup.",
+    "Pick up the lightweight handheld microphone, avoid the trophy cup with curved handles by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the golden award cup, hand to the right arm.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the smooth gold cup.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the smooth gold cup.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the smooth gold cup.",
+    "Pick up the lightweight handheld microphone, avoid the smooth gold cup by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the smooth gold cup, hand to the right arm.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the smooth gold cup.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the golden award cup.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the smooth gold cup by 0.10m.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the trophy cup with curved handles.",
+    "Pick up the lightweight handheld microphone, avoid the trophy cup with curved handles by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the trophy cup with curved handles, hand to the right arm.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the trophy cup with curved handles.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the golden award cup.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the smooth gold cup by 0.10m.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the golden award cup.",
+    "Pick up the black and white plastic microphone, avoid the trophy cup with curved handles by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the golden award cup, hand to the right arm.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the trophy cup with curved handles.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the golden award cup.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the golden award cup.",
+    "Pick up the microphone used for audio input, avoid the smooth gold cup by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the trophy cup with curved handles, hand to the right arm.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the golden award cup.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the trophy cup with curved handles."
+  ]
+}
\ No newline at end of file
diff --git a/handover_mic_wp1/handover_mic_wp1/instructions/episode22.json b/handover_mic_wp1/handover_mic_wp1/instructions/episode22.json
new file mode 100644
index 0000000000000000000000000000000000000000..2de99ef3f0b3cd0c41ac2c8ef1bfe7fc6380639e
--- /dev/null
+++ b/handover_mic_wp1/handover_mic_wp1/instructions/episode22.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Let the right arm grasp the microphone with slider switch, move it 0.10m from the trophy with two side handles, then the left arm receives.",
+    "Pick up the rounded white tip microphone with the right arm, transfer to the left arm, stay away from the award trophy with black platform.",
+    "Have the right arm grasp the white and teal sound microphone, avoid the ornate gold cup by 0.10m, and transfer the white and teal sound microphone to the left arm.",
+    "Using the right arm, take the microphone with white rounded head and hand to the left arm, keeping 0.10m from the gold and black prize cup.",
+    "Pick up the white and teal sound microphone, move it staying 0.10m from the gold cup on black base, then complete the handoff.",
+    "Lift the sound microphone with teal body with the right arm, give the sound microphone with teal body to the left arm, keep clear of the trophy with detailed top and base 0.10m.",
+    "Using the right arm, grab the plastic teal microphone with slider, keep 0.10m from the trophy with detailed top and base, then give the plastic teal microphone with slider to the left arm.",
+    "Lift the textured white microphone head, keep it 0.10m away from the award trophy with black platform, then pass it across.",
+    "Take the rounded white tip microphone with the right arm, route it away from the centerpiece gold trophy on sturdy base, then hand it to the left arm.",
+    "Get the compact teal and white microphone with the right arm, shift the compact teal and white microphone to the left arm, maintaining 0.10m from the shiny gold trophy with black stand.",
+    "Pick up the long microphone with smooth teal grip using the right arm, transfer to the left arm, keep 0.10m from the medium-sized prize trophy.",
+    "Have the right arm take the white bottom microphone with textured tip, then the left arm takes the white bottom microphone with textured tip, keep 0.10m from the trophy with two side handles.",
+    "With the right arm, grasp the sound microphone with teal body, then hand the sound microphone with teal body to the left arm, avoiding the trophy with smooth polished finish.",
+    "Grab the microphone with white rounded head, carry it around the trophy with detailed top and base with 0.10m clearance, then hand over.",
+    "With the right arm, take the microphone with slider switch, keep distance from the two-handled golden trophy, and give the microphone with slider switch to the left arm.",
+    "Secure the white and teal sound microphone, route it at least 0.10m from the gold cup on black base, then hand it over.",
+    "Take the sound microphone with teal body using the right arm, keep away from the ornate gold cup, and pass to the left arm.",
+    "Move the textured white microphone head from the right arm to the left arm while keeping clear of the medium-sized prize trophy.",
+    "Use the right arm to lift the teal microphone, then give the teal microphone to the left arm, avoiding the ornate gold cup by 0.10m.",
+    "Take the white and teal sound microphone with the right arm, hand over to the left arm, keep the white and teal sound microphone 0.10m away from the trophy with smooth polished finish.",
+    "Let the right arm grasp the microphone with slider switch, move it 0.10m from the trophy with two side handles, then the left arm receives.",
+    "Pick up the sound microphone with teal body with the right arm, transfer to the left arm, stay away from the gold trophy.",
+    "Have the right arm grasp the white bottom microphone with textured tip, avoid the ornate gold cup by 0.10m, and transfer the white bottom microphone with textured tip to the left arm.",
+    "Using the right arm, take the compact teal and white microphone and hand to the left arm, keeping 0.10m from the award trophy with black platform.",
+    "Pick up the textured white microphone head, move it staying 0.10m from the trophy with smooth polished finish, then complete the handoff.",
+    "Lift the teal microphone with the right arm, give the teal microphone to the left arm, keep clear of the ornate gold cup 0.10m.",
+    "Using the right arm, grab the plastic teal microphone with slider, keep 0.10m from the gold and black prize cup, then give the plastic teal microphone with slider to the left arm.",
+    "Lift the long microphone with smooth teal grip, keep it 0.10m away from the shiny gold trophy with black stand, then pass it across.",
+    "Take the sound microphone with teal body with the right arm, route it away from the award trophy with black platform, then hand it to the left arm.",
+    "Get the plastic teal microphone with slider with the right arm, shift the plastic teal microphone with slider to the left arm, maintaining 0.10m from the centerpiece gold trophy on sturdy base.",
+    "Pick up the sound microphone with teal body using the right arm, transfer to the left arm, keep 0.10m from the gold cup on black base.",
+    "Have the right arm take the rounded white tip microphone, then the left arm takes the rounded white tip microphone, keep 0.10m from the gold trophy.",
+    "With the right arm, grasp the white bottom microphone with textured tip, then hand the white bottom microphone with textured tip to the left arm, avoiding the shiny gold trophy with black stand.",
+    "Grab the white bottom microphone with textured tip, carry it around the gold cup on black base with 0.10m clearance, then hand over.",
+    "With the right arm, take the teal microphone, keep distance from the trophy with detailed top and base, and give the teal microphone to the left arm.",
+    "Secure the plastic teal microphone with slider, route it at least 0.10m from the award trophy with black platform, then hand it over.",
+    "Take the white and teal sound microphone using the right arm, keep away from the medium-sized prize trophy, and pass to the left arm.",
+    "Move the white bottom microphone with textured tip from the right arm to the left arm while keeping clear of the trophy with two side handles.",
+    "Use the right arm to lift the handheld teal microphone, then give the handheld teal microphone to the left arm, avoiding the gold cup on black base by 0.10m.",
+    "Take the handheld teal microphone with the right arm, hand over to the left arm, keep the handheld teal microphone 0.10m away from the gold cup on black base.",
+    "Let the right arm grasp the handheld teal microphone, move it 0.10m from the two-handled golden trophy, then the left arm receives.",
+    "Pick up the teal microphone with the right arm, transfer to the left arm, stay away from the gold cup on black base.",
+    "Have the right arm grasp the teal microphone, avoid the gold trophy by 0.10m, and transfer the teal microphone to the left arm.",
+    "Using the right arm, take the teal microphone and hand to the left arm, keeping 0.10m from the centerpiece gold trophy on sturdy base.",
+    "Pick up the textured white microphone head, move it staying 0.10m from the trophy with detailed top and base, then complete the handoff.",
+    "Lift the white bottom microphone with textured tip with the right arm, give the white bottom microphone with textured tip to the left arm, keep clear of the gold cup on black base 0.10m.",
+    "Using the right arm, grab the plastic teal microphone with slider, keep 0.10m from the gold cup on black base, then give the plastic teal microphone with slider to the left arm.",
+    "Lift the sound microphone with teal body, keep it 0.10m away from the centerpiece gold trophy on sturdy base, then pass it across.",
+    "Take the microphone with slider switch with the right arm, route it away from the medium-sized prize trophy, then hand it to the left arm.",
+    "Get the plastic teal microphone with slider with the right arm, shift the plastic teal microphone with slider to the left arm, maintaining 0.10m from the centerpiece gold trophy on sturdy base.",
+    "Pick up the compact teal and white microphone using the right arm, transfer to the left arm, keep 0.10m from the two-handled golden trophy.",
+    "Have the right arm take the sound microphone with teal body, then the left arm takes the sound microphone with teal body, keep 0.10m from the medium-sized prize trophy.",
+    "With the right arm, grasp the compact teal and white microphone, then hand the compact teal and white microphone to the left arm, avoiding the gold trophy.",
+    "Grab the long microphone with smooth teal grip, carry it around the ornate gold cup with 0.10m clearance, then hand over.",
+    "With the right arm, take the teal microphone, keep distance from the trophy with detailed top and base, and give the teal microphone to the left arm.",
+    "Secure the sound microphone with teal body, route it at least 0.10m from the gold cup on black base, then hand it over.",
+    "Take the white and teal sound microphone using the right arm, keep away from the two-handled golden trophy, and pass to the left arm.",
+    "Move the microphone with slider switch from the right arm to the left arm while keeping clear of the trophy with detailed top and base.",
+    "Use the right arm to lift the rounded white tip microphone, then give the rounded white tip microphone to the left arm, avoiding the trophy with two side handles by 0.10m.",
+    "Take the sound microphone with teal body with the right arm, hand over to the left arm, keep the sound microphone with teal body 0.10m away from the medium-sized prize trophy.",
+    "Let the right arm grasp the sound microphone with teal body, move it 0.10m from the award trophy with black platform, then the left arm receives.",
+    "Pick up the white and teal sound microphone with the right arm, transfer to the left arm, stay away from the two-handled golden trophy.",
+    "Have the right arm grasp the microphone with white rounded head, avoid the medium-sized prize trophy by 0.10m, and transfer the microphone with white rounded head to the left arm.",
+    "Using the right arm, take the white bottom microphone with textured tip and hand to the left arm, keeping 0.10m from the centerpiece gold trophy on sturdy base.",
+    "Pick up the handheld teal microphone, move it staying 0.10m from the trophy with smooth polished finish, then complete the handoff.",
+    "Lift the microphone with white rounded head with the right arm, give the microphone with white rounded head to the left arm, keep clear of the gold trophy 0.10m.",
+    "Using the right arm, grab the microphone with slider switch, keep 0.10m from the gold cup on black base, then give the microphone with slider switch to the left arm.",
+    "Lift the compact teal and white microphone, keep it 0.10m away from the trophy with two side handles, then pass it across.",
+    "Take the plastic teal microphone with slider with the right arm, route it away from the award trophy with black platform, then hand it to the left arm.",
+    "Get the white bottom microphone with textured tip with the right arm, shift the white bottom microphone with textured tip to the left arm, maintaining 0.10m from the shiny gold trophy with black stand.",
+    "Pick up the white bottom microphone with textured tip using the right arm, transfer to the left arm, keep 0.10m from the two-handled golden trophy.",
+    "Have the right arm take the handheld teal microphone, then the left arm takes the handheld teal microphone, keep 0.10m from the shiny gold trophy with black stand.",
+    "With the right arm, grasp the rounded white tip microphone, then hand the rounded white tip microphone to the left arm, avoiding the shiny gold trophy with black stand.",
+    "Grab the teal microphone, carry it around the medium-sized prize trophy with 0.10m clearance, then hand over.",
+    "With the right arm, take the handheld teal microphone, keep distance from the gold and black prize cup, and give the handheld teal microphone to the left arm.",
+    "Secure the textured white microphone head, route it at least 0.10m from the medium-sized prize trophy, then hand it over.",
+    "Take the plastic teal microphone with slider using the right arm, keep away from the centerpiece gold trophy on sturdy base, and pass to the left arm.",
+    "Move the microphone with white rounded head from the right arm to the left arm while keeping clear of the gold trophy.",
+    "Use the right arm to lift the teal microphone, then give the teal microphone to the left arm, avoiding the trophy with two side handles by 0.10m.",
+    "Take the rounded white tip microphone with the right arm, hand over to the left arm, keep the rounded white tip microphone 0.10m away from the gold and black prize cup.",
+    "Let the right arm grasp the sound microphone with teal body, move it 0.10m from the centerpiece gold trophy on sturdy base, then the left arm receives.",
+    "Pick up the long microphone with smooth teal grip with the right arm, transfer to the left arm, stay away from the gold and black prize cup.",
+    "Have the right arm grasp the long microphone with smooth teal grip, avoid the ornate gold cup by 0.10m, and transfer the long microphone with smooth teal grip to the left arm.",
+    "Using the right arm, take the long microphone with smooth teal grip and hand to the left arm, keeping 0.10m from the centerpiece gold trophy on sturdy base.",
+    "Pick up the compact teal and white microphone, move it staying 0.10m from the gold trophy, then complete the handoff.",
+    "Lift the microphone with slider switch with the right arm, give the microphone with slider switch to the left arm, keep clear of the award trophy with black platform 0.10m.",
+    "Using the right arm, grab the microphone with slider switch, keep 0.10m from the gold trophy, then give the microphone with slider switch to the left arm.",
+    "Lift the microphone with slider switch, keep it 0.10m away from the trophy with two side handles, then pass it across.",
+    "Take the compact teal and white microphone with the right arm, route it away from the gold and black prize cup, then hand it to the left arm.",
+    "Get the sound microphone with teal body with the right arm, shift the sound microphone with teal body to the left arm, maintaining 0.10m from the trophy with smooth polished finish.",
+    "Pick up the long microphone with smooth teal grip using the right arm, transfer to the left arm, keep 0.10m from the award trophy with black platform.",
+    "Have the right arm take the microphone with slider switch, then the left arm takes the microphone with slider switch, keep 0.10m from the two-handled golden trophy.",
+    "With the right arm, grasp the textured white microphone head, then hand the textured white microphone head to the left arm, avoiding the trophy with two side handles.",
+    "Grab the white and teal sound microphone, carry it around the trophy with detailed top and base with 0.10m clearance, then hand over.",
+    "With the right arm, take the rounded white tip microphone, keep distance from the gold and black prize cup, and give the rounded white tip microphone to the left arm.",
+    "Secure the rounded white tip microphone, route it at least 0.10m from the gold cup on black base, then hand it over.",
+    "Take the compact teal and white microphone using the right arm, keep away from the two-handled golden trophy, and pass to the left arm.",
+    "Move the white and teal sound microphone from the right arm to the left arm while keeping clear of the trophy with smooth polished finish.",
+    "Use the right arm to lift the handheld teal microphone, then give the handheld teal microphone to the left arm, avoiding the gold and black prize cup by 0.10m.",
+    "Take the microphone with slider switch with the right arm, hand over to the left arm, keep the microphone with slider switch 0.10m away from the two-handled golden trophy."
+  ],
+  "unseen": [
+    "With the right arm, grab the switchable microphone with teal body, pass to the left arm, keeping the switchable microphone with teal body 0.10m from the golden award cup.",
+    "Grab the long teal microphone with white grooves with the right arm, hand it to the left arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Grab the teal microphone with white bottom with the right arm, keep 0.10m from the trophy cup with curved handles, hand to the left arm.",
+    "Pick up the switchable microphone with teal body, avoid the smooth gold cup by 0.10m, pass the switchable microphone with teal body from the right arm to the left arm.",
+    "Use the right arm to grab the switchable microphone with teal body, then pass it to the left arm, avoiding the golden award cup.",
+    "Use the right arm to grab the long teal microphone with white grooves, pass to the left arm, keep the long teal microphone with white grooves 0.10m from the golden award cup.",
+    "With the right arm, grab the long teal microphone with white grooves, pass to the left arm, keeping the long teal microphone with white grooves 0.10m from the smooth gold cup.",
+    "Grab the teal microphone with white bottom with the right arm, hand it to the left arm, avoiding the golden award cup by 0.10m.",
+    "Grab the long teal microphone with white grooves with the right arm, keep 0.10m from the trophy cup with curved handles, hand to the left arm.",
+    "Pick up the long teal microphone with white grooves, avoid the smooth gold cup by 0.10m, pass the long teal microphone with white grooves from the right arm to the left arm.",
+    "Use the right arm to grab the long teal microphone with white grooves, then pass it to the left arm, avoiding the trophy cup with curved handles.",
+    "Use the right arm to grab the long teal microphone with white grooves, pass to the left arm, keep the long teal microphone with white grooves 0.10m from the smooth gold cup.",
+    "With the right arm, grab the long teal microphone with white grooves, pass to the left arm, keeping the long teal microphone with white grooves 0.10m from the smooth gold cup.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the golden award cup by 0.10m.",
+    "Grab the long teal microphone with white grooves with the right arm, keep 0.10m from the trophy cup with curved handles, hand to the left arm.",
+    "Pick up the teal microphone with white bottom, avoid the trophy cup with curved handles by 0.10m, pass the teal microphone with white bottom from the right arm to the left arm.",
+    "Use the right arm to grab the switchable microphone with teal body, then pass it to the left arm, avoiding the trophy cup with curved handles.",
+    "Use the right arm to grab the teal microphone with white bottom, pass to the left arm, keep the teal microphone with white bottom 0.10m from the golden award cup.",
+    "With the right arm, grab the switchable microphone with teal body, pass to the left arm, keeping the switchable microphone with teal body 0.10m from the smooth gold cup.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Grab the long teal microphone with white grooves with the right arm, keep 0.10m from the trophy cup with curved handles, hand to the left arm.",
+    "Pick up the switchable microphone with teal body, avoid the trophy cup with curved handles by 0.10m, pass the switchable microphone with teal body from the right arm to the left arm.",
+    "Use the right arm to grab the teal microphone with white bottom, then pass it to the left arm, avoiding the golden award cup.",
+    "Use the right arm to grab the teal microphone with white bottom, pass to the left arm, keep the teal microphone with white bottom 0.10m from the trophy cup with curved handles.",
+    "With the right arm, grab the long teal microphone with white grooves, pass to the left arm, keeping the long teal microphone with white grooves 0.10m from the trophy cup with curved handles.",
+    "Grab the teal microphone with white bottom with the right arm, hand it to the left arm, avoiding the golden award cup by 0.10m.",
+    "Grab the switchable microphone with teal body with the right arm, keep 0.10m from the trophy cup with curved handles, hand to the left arm.",
+    "Pick up the long teal microphone with white grooves, avoid the golden award cup by 0.10m, pass the long teal microphone with white grooves from the right arm to the left arm.",
+    "Use the right arm to grab the teal microphone with white bottom, then pass it to the left arm, avoiding the golden award cup.",
+    "Use the right arm to grab the long teal microphone with white grooves, pass to the left arm, keep the long teal microphone with white grooves 0.10m from the smooth gold cup.",
+    "With the right arm, grab the long teal microphone with white grooves, pass to the left arm, keeping the long teal microphone with white grooves 0.10m from the smooth gold cup.",
+    "Grab the teal microphone with white bottom with the right arm, hand it to the left arm, avoiding the smooth gold cup by 0.10m.",
+    "Grab the switchable microphone with teal body with the right arm, keep 0.10m from the trophy cup with curved handles, hand to the left arm.",
+    "Pick up the long teal microphone with white grooves, avoid the smooth gold cup by 0.10m, pass the long teal microphone with white grooves from the right arm to the left arm.",
+    "Use the right arm to grab the switchable microphone with teal body, then pass it to the left arm, avoiding the golden award cup.",
+    "Use the right arm to grab the long teal microphone with white grooves, pass to the left arm, keep the long teal microphone with white grooves 0.10m from the trophy cup with curved handles.",
+    "With the right arm, grab the switchable microphone with teal body, pass to the left arm, keeping the switchable microphone with teal body 0.10m from the golden award cup.",
+    "Grab the long teal microphone with white grooves with the right arm, hand it to the left arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Grab the long teal microphone with white grooves with the right arm, keep 0.10m from the smooth gold cup, hand to the left arm.",
+    "Pick up the teal microphone with white bottom, avoid the trophy cup with curved handles by 0.10m, pass the teal microphone with white bottom from the right arm to the left arm.",
+    "Use the right arm to grab the long teal microphone with white grooves, then pass it to the left arm, avoiding the smooth gold cup.",
+    "Use the right arm to grab the switchable microphone with teal body, pass to the left arm, keep the switchable microphone with teal body 0.10m from the smooth gold cup.",
+    "With the right arm, grab the switchable microphone with teal body, pass to the left arm, keeping the switchable microphone with teal body 0.10m from the golden award cup.",
+    "Grab the long teal microphone with white grooves with the right arm, hand it to the left arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Grab the long teal microphone with white grooves with the right arm, keep 0.10m from the trophy cup with curved handles, hand to the left arm.",
+    "Pick up the switchable microphone with teal body, avoid the golden award cup by 0.10m, pass the switchable microphone with teal body from the right arm to the left arm.",
+    "Use the right arm to grab the teal microphone with white bottom, then pass it to the left arm, avoiding the smooth gold cup.",
+    "Use the right arm to grab the switchable microphone with teal body, pass to the left arm, keep the switchable microphone with teal body 0.10m from the golden award cup.",
+    "With the right arm, grab the teal microphone with white bottom, pass to the left arm, keeping the teal microphone with white bottom 0.10m from the trophy cup with curved handles.",
+    "Grab the long teal microphone with white grooves with the right arm, hand it to the left arm, avoiding the golden award cup by 0.10m.",
+    "Grab the long teal microphone with white grooves with the right arm, keep 0.10m from the trophy cup with curved handles, hand to the left arm.",
+    "Pick up the teal microphone with white bottom, avoid the trophy cup with curved handles by 0.10m, pass the teal microphone with white bottom from the right arm to the left arm.",
+    "Use the right arm to grab the teal microphone with white bottom, then pass it to the left arm, avoiding the golden award cup.",
+    "Use the right arm to grab the switchable microphone with teal body, pass to the left arm, keep the switchable microphone with teal body 0.10m from the golden award cup.",
+    "With the right arm, grab the long teal microphone with white grooves, pass to the left arm, keeping the long teal microphone with white grooves 0.10m from the smooth gold cup.",
+    "Grab the teal microphone with white bottom with the right arm, hand it to the left arm, avoiding the golden award cup by 0.10m.",
+    "Grab the long teal microphone with white grooves with the right arm, keep 0.10m from the trophy cup with curved handles, hand to the left arm.",
+    "Pick up the switchable microphone with teal body, avoid the golden award cup by 0.10m, pass the switchable microphone with teal body from the right arm to the left arm.",
+    "Use the right arm to grab the long teal microphone with white grooves, then pass it to the left arm, avoiding the smooth gold cup.",
+    "Use the right arm to grab the switchable microphone with teal body, pass to the left arm, keep the switchable microphone with teal body 0.10m from the trophy cup with curved handles.",
+    "With the right arm, grab the long teal microphone with white grooves, pass to the left arm, keeping the long teal microphone with white grooves 0.10m from the golden award cup.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the smooth gold cup by 0.10m.",
+    "Grab the long teal microphone with white grooves with the right arm, keep 0.10m from the smooth gold cup, hand to the left arm.",
+    "Pick up the long teal microphone with white grooves, avoid the trophy cup with curved handles by 0.10m, pass the long teal microphone with white grooves from the right arm to the left arm.",
+    "Use the right arm to grab the long teal microphone with white grooves, then pass it to the left arm, avoiding the smooth gold cup.",
+    "Use the right arm to grab the long teal microphone with white grooves, pass to the left arm, keep the long teal microphone with white grooves 0.10m from the smooth gold cup.",
+    "With the right arm, grab the teal microphone with white bottom, pass to the left arm, keeping the teal microphone with white bottom 0.10m from the trophy cup with curved handles.",
+    "Grab the teal microphone with white bottom with the right arm, hand it to the left arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Grab the switchable microphone with teal body with the right arm, keep 0.10m from the golden award cup, hand to the left arm.",
+    "Pick up the teal microphone with white bottom, avoid the smooth gold cup by 0.10m, pass the teal microphone with white bottom from the right arm to the left arm.",
+    "Use the right arm to grab the long teal microphone with white grooves, then pass it to the left arm, avoiding the trophy cup with curved handles.",
+    "Use the right arm to grab the long teal microphone with white grooves, pass to the left arm, keep the long teal microphone with white grooves 0.10m from the smooth gold cup.",
+    "With the right arm, grab the switchable microphone with teal body, pass to the left arm, keeping the switchable microphone with teal body 0.10m from the golden award cup.",
+    "Grab the long teal microphone with white grooves with the right arm, hand it to the left arm, avoiding the golden award cup by 0.10m.",
+    "Grab the teal microphone with white bottom with the right arm, keep 0.10m from the trophy cup with curved handles, hand to the left arm.",
+    "Pick up the teal microphone with white bottom, avoid the trophy cup with curved handles by 0.10m, pass the teal microphone with white bottom from the right arm to the left arm.",
+    "Use the right arm to grab the teal microphone with white bottom, then pass it to the left arm, avoiding the smooth gold cup.",
+    "Use the right arm to grab the long teal microphone with white grooves, pass to the left arm, keep the long teal microphone with white grooves 0.10m from the smooth gold cup.",
+    "With the right arm, grab the switchable microphone with teal body, pass to the left arm, keeping the switchable microphone with teal body 0.10m from the trophy cup with curved handles.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the golden award cup by 0.10m.",
+    "Grab the long teal microphone with white grooves with the right arm, keep 0.10m from the trophy cup with curved handles, hand to the left arm.",
+    "Pick up the teal microphone with white bottom, avoid the smooth gold cup by 0.10m, pass the teal microphone with white bottom from the right arm to the left arm.",
+    "Use the right arm to grab the long teal microphone with white grooves, then pass it to the left arm, avoiding the trophy cup with curved handles.",
+    "Use the right arm to grab the switchable microphone with teal body, pass to the left arm, keep the switchable microphone with teal body 0.10m from the trophy cup with curved handles.",
+    "With the right arm, grab the long teal microphone with white grooves, pass to the left arm, keeping the long teal microphone with white grooves 0.10m from the trophy cup with curved handles.",
+    "Grab the long teal microphone with white grooves with the right arm, hand it to the left arm, avoiding the golden award cup by 0.10m.",
+    "Grab the switchable microphone with teal body with the right arm, keep 0.10m from the trophy cup with curved handles, hand to the left arm.",
+    "Pick up the switchable microphone with teal body, avoid the trophy cup with curved handles by 0.10m, pass the switchable microphone with teal body from the right arm to the left arm.",
+    "Use the right arm to grab the teal microphone with white bottom, then pass it to the left arm, avoiding the golden award cup.",
+    "Use the right arm to grab the switchable microphone with teal body, pass to the left arm, keep the switchable microphone with teal body 0.10m from the smooth gold cup.",
+    "With the right arm, grab the long teal microphone with white grooves, pass to the left arm, keeping the long teal microphone with white grooves 0.10m from the trophy cup with curved handles.",
+    "Grab the teal microphone with white bottom with the right arm, hand it to the left arm, avoiding the golden award cup by 0.10m.",
+    "Grab the switchable microphone with teal body with the right arm, keep 0.10m from the smooth gold cup, hand to the left arm.",
+    "Pick up the teal microphone with white bottom, avoid the trophy cup with curved handles by 0.10m, pass the teal microphone with white bottom from the right arm to the left arm.",
+    "Use the right arm to grab the switchable microphone with teal body, then pass it to the left arm, avoiding the smooth gold cup.",
+    "Use the right arm to grab the long teal microphone with white grooves, pass to the left arm, keep the long teal microphone with white grooves 0.10m from the golden award cup.",
+    "With the right arm, grab the switchable microphone with teal body, pass to the left arm, keeping the switchable microphone with teal body 0.10m from the golden award cup.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the golden award cup by 0.10m.",
+    "Grab the teal microphone with white bottom with the right arm, keep 0.10m from the trophy cup with curved handles, hand to the left arm.",
+    "Pick up the teal microphone with white bottom, avoid the golden award cup by 0.10m, pass the teal microphone with white bottom from the right arm to the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/handover_mic_wp1/handover_mic_wp1/instructions/episode23.json b/handover_mic_wp1/handover_mic_wp1/instructions/episode23.json
new file mode 100644
index 0000000000000000000000000000000000000000..f89f55c210218c2507bd206460d02ef5dfaf6e73
--- /dev/null
+++ b/handover_mic_wp1/handover_mic_wp1/instructions/episode23.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Using the right arm, take the smooth plastic microphone handle and hand to the left arm, keeping 0.10m from the shiny golden prize trophy.",
+    "Have the right arm grasp the handheld microphone, avoid the trophy cup by 0.10m, and transfer the handheld microphone to the left arm.",
+    "With the right arm, take the smooth plastic microphone handle, keep distance from the golden award with orange edges, and give the smooth plastic microphone handle to the left arm.",
+    "With the right arm, grasp the metal head microphone, then hand the metal head microphone to the left arm, avoiding the award cup with orange highlights.",
+    "Using the right arm, grab the smooth plastic microphone handle, keep 0.10m from the medium-sized yellow trophy, then give the smooth plastic microphone handle to the left arm.",
+    "Move the handheld microphone from the right arm to the left arm while keeping clear of the golden trophy.",
+    "Pick up the compact size microphone with the right arm, transfer to the left arm, stay away from the golden trophy.",
+    "Take the microphone with textured metal head using the right arm, keep away from the decorative trophy with curved handles, and pass to the left arm.",
+    "Lift the black and white microphone, keep it 0.10m away from the golden trophy, then pass it across.",
+    "Get the handheld microphone with the right arm, shift the handheld microphone to the left arm, maintaining 0.10m from the golden trophy.",
+    "Pick up the handheld microphone, move it staying 0.10m from the golden trophy, then complete the handoff.",
+    "Secure the metal head microphone, route it at least 0.10m from the decorative trophy with curved handles, then hand it over.",
+    "Take the microphone with textured metal head with the right arm, hand over to the left arm, keep the microphone with textured metal head 0.10m away from the glossy yellow trophy with base.",
+    "Take the microphone with cylindrical handle with the right arm, route it away from the gold cup with handles, then hand it to the left arm.",
+    "Grab the mesh-patterned microphone head, carry it around the shiny golden prize trophy with 0.10m clearance, then hand over.",
+    "Use the right arm to lift the microphone with rounded mesh head, then give the microphone with rounded mesh head to the left arm, avoiding the shiny golden prize trophy by 0.10m.",
+    "Lift the black and white microphone with the right arm, give the black and white microphone to the left arm, keep clear of the gold cup with handles 0.10m.",
+    "Pick up the microphone with rounded mesh head using the right arm, transfer to the left arm, keep 0.10m from the decorative trophy with curved handles.",
+    "Let the right arm grasp the microphone for voice recording, move it 0.10m from the trophy cup, then the left arm receives.",
+    "Have the right arm take the handheld microphone, then the left arm takes the handheld microphone, keep 0.10m from the golden award with orange edges.",
+    "Using the right arm, take the white microphone handle black accents and hand to the left arm, keeping 0.10m from the gold cup with handles.",
+    "Have the right arm grasp the microphone for voice recording, avoid the golden trophy by 0.10m, and transfer the microphone for voice recording to the left arm.",
+    "With the right arm, take the compact size microphone, keep distance from the award trophy, and give the compact size microphone to the left arm.",
+    "With the right arm, grasp the microphone for voice recording, then hand the microphone for voice recording to the left arm, avoiding the two-handled prize trophy.",
+    "Using the right arm, grab the microphone with black tip and white body, keep 0.10m from the shiny golden prize trophy, then give the microphone with black tip and white body to the left arm.",
+    "Move the mesh-patterned microphone head from the right arm to the left arm while keeping clear of the award trophy.",
+    "Pick up the microphone with rounded mesh head with the right arm, transfer to the left arm, stay away from the glossy yellow trophy with base.",
+    "Take the microphone with textured metal head using the right arm, keep away from the award cup with orange highlights, and pass to the left arm.",
+    "Lift the compact size microphone, keep it 0.10m away from the award cup with orange highlights, then pass it across.",
+    "Get the smooth plastic microphone handle with the right arm, shift the smooth plastic microphone handle to the left arm, maintaining 0.10m from the medium-sized yellow trophy.",
+    "Pick up the black and white microphone, move it staying 0.10m from the trophy cup, then complete the handoff.",
+    "Secure the mesh-patterned microphone head, route it at least 0.10m from the trophy cup, then hand it over.",
+    "Take the compact size microphone with the right arm, hand over to the left arm, keep the compact size microphone 0.10m away from the golden award with orange edges.",
+    "Take the microphone with cylindrical handle with the right arm, route it away from the smooth gold cup-shaped trophy, then hand it to the left arm.",
+    "Grab the microphone for voice recording, carry it around the award trophy with 0.10m clearance, then hand over.",
+    "Use the right arm to lift the microphone with cylindrical handle, then give the microphone with cylindrical handle to the left arm, avoiding the trophy cup by 0.10m.",
+    "Lift the microphone with rounded mesh head with the right arm, give the microphone with rounded mesh head to the left arm, keep clear of the glossy yellow trophy with base 0.10m.",
+    "Pick up the microphone with black tip and white body using the right arm, transfer to the left arm, keep 0.10m from the trophy cup.",
+    "Let the right arm grasp the microphone for voice recording, move it 0.10m from the two-handled prize trophy, then the left arm receives.",
+    "Have the right arm take the microphone for voice recording, then the left arm takes the microphone for voice recording, keep 0.10m from the golden award with orange edges.",
+    "Using the right arm, take the mesh-patterned microphone head and hand to the left arm, keeping 0.10m from the gold cup with handles.",
+    "Have the right arm grasp the smooth plastic microphone handle, avoid the two-handled prize trophy by 0.10m, and transfer the smooth plastic microphone handle to the left arm.",
+    "With the right arm, take the compact size microphone, keep distance from the smooth gold cup-shaped trophy, and give the compact size microphone to the left arm.",
+    "With the right arm, grasp the handheld microphone, then hand the handheld microphone to the left arm, avoiding the award cup with orange highlights.",
+    "Using the right arm, grab the microphone for voice recording, keep 0.10m from the gold cup with handles, then give the microphone for voice recording to the left arm.",
+    "Move the microphone with black tip and white body from the right arm to the left arm while keeping clear of the glossy yellow trophy with base.",
+    "Pick up the metal head microphone with the right arm, transfer to the left arm, stay away from the trophy cup.",
+    "Take the microphone for voice recording using the right arm, keep away from the glossy yellow trophy with base, and pass to the left arm.",
+    "Lift the mesh-patterned microphone head, keep it 0.10m away from the award trophy, then pass it across.",
+    "Get the black and white microphone with the right arm, shift the black and white microphone to the left arm, maintaining 0.10m from the shiny golden prize trophy.",
+    "Pick up the microphone with cylindrical handle, move it staying 0.10m from the golden trophy, then complete the handoff.",
+    "Secure the microphone with cylindrical handle, route it at least 0.10m from the decorative trophy with curved handles, then hand it over.",
+    "Take the microphone with cylindrical handle with the right arm, hand over to the left arm, keep the microphone with cylindrical handle 0.10m away from the two-handled prize trophy.",
+    "Take the microphone with textured metal head with the right arm, route it away from the smooth gold cup-shaped trophy, then hand it to the left arm.",
+    "Grab the metal head microphone, carry it around the smooth gold cup-shaped trophy with 0.10m clearance, then hand over.",
+    "Use the right arm to lift the microphone with black tip and white body, then give the microphone with black tip and white body to the left arm, avoiding the golden award with orange edges by 0.10m.",
+    "Lift the black and white microphone with the right arm, give the black and white microphone to the left arm, keep clear of the shiny golden prize trophy 0.10m.",
+    "Pick up the handheld microphone using the right arm, transfer to the left arm, keep 0.10m from the golden award with orange edges.",
+    "Let the right arm grasp the microphone with textured metal head, move it 0.10m from the award cup with orange highlights, then the left arm receives.",
+    "Have the right arm take the compact size microphone, then the left arm takes the compact size microphone, keep 0.10m from the trophy cup.",
+    "Using the right arm, take the smooth plastic microphone handle and hand to the left arm, keeping 0.10m from the award cup with orange highlights.",
+    "Have the right arm grasp the microphone with textured metal head, avoid the glossy yellow trophy with base by 0.10m, and transfer the microphone with textured metal head to the left arm.",
+    "With the right arm, take the compact size microphone, keep distance from the golden trophy, and give the compact size microphone to the left arm.",
+    "With the right arm, grasp the handheld microphone, then hand the handheld microphone to the left arm, avoiding the two-handled prize trophy.",
+    "Using the right arm, grab the compact size microphone, keep 0.10m from the award trophy, then give the compact size microphone to the left arm.",
+    "Move the white microphone handle black accents from the right arm to the left arm while keeping clear of the smooth gold cup-shaped trophy.",
+    "Pick up the black and white microphone with the right arm, transfer to the left arm, stay away from the smooth gold cup-shaped trophy.",
+    "Take the black and white microphone using the right arm, keep away from the award cup with orange highlights, and pass to the left arm.",
+    "Lift the microphone with cylindrical handle, keep it 0.10m away from the golden award with orange edges, then pass it across.",
+    "Get the microphone with textured metal head with the right arm, shift the microphone with textured metal head to the left arm, maintaining 0.10m from the decorative trophy with curved handles.",
+    "Pick up the metal head microphone, move it staying 0.10m from the golden trophy, then complete the handoff.",
+    "Secure the handheld microphone, route it at least 0.10m from the glossy yellow trophy with base, then hand it over.",
+    "Take the handheld microphone with the right arm, hand over to the left arm, keep the handheld microphone 0.10m away from the decorative trophy with curved handles.",
+    "Take the mesh-patterned microphone head with the right arm, route it away from the golden trophy, then hand it to the left arm.",
+    "Grab the compact size microphone, carry it around the golden trophy with 0.10m clearance, then hand over.",
+    "Use the right arm to lift the black and white microphone, then give the black and white microphone to the left arm, avoiding the award cup with orange highlights by 0.10m.",
+    "Lift the smooth plastic microphone handle with the right arm, give the smooth plastic microphone handle to the left arm, keep clear of the two-handled prize trophy 0.10m.",
+    "Pick up the microphone with cylindrical handle using the right arm, transfer to the left arm, keep 0.10m from the golden award with orange edges.",
+    "Let the right arm grasp the microphone with rounded mesh head, move it 0.10m from the smooth gold cup-shaped trophy, then the left arm receives.",
+    "Have the right arm take the microphone with textured metal head, then the left arm takes the microphone with textured metal head, keep 0.10m from the two-handled prize trophy.",
+    "Using the right arm, take the mesh-patterned microphone head and hand to the left arm, keeping 0.10m from the medium-sized yellow trophy.",
+    "Have the right arm grasp the microphone with black tip and white body, avoid the award trophy by 0.10m, and transfer the microphone with black tip and white body to the left arm.",
+    "With the right arm, take the microphone with textured metal head, keep distance from the gold cup with handles, and give the microphone with textured metal head to the left arm.",
+    "With the right arm, grasp the microphone with black tip and white body, then hand the microphone with black tip and white body to the left arm, avoiding the golden trophy.",
+    "Using the right arm, grab the metal head microphone, keep 0.10m from the shiny golden prize trophy, then give the metal head microphone to the left arm.",
+    "Move the mesh-patterned microphone head from the right arm to the left arm while keeping clear of the award trophy.",
+    "Pick up the metal head microphone with the right arm, transfer to the left arm, stay away from the two-handled prize trophy.",
+    "Take the microphone with rounded mesh head using the right arm, keep away from the shiny golden prize trophy, and pass to the left arm.",
+    "Lift the microphone with textured metal head, keep it 0.10m away from the glossy yellow trophy with base, then pass it across.",
+    "Get the black and white microphone with the right arm, shift the black and white microphone to the left arm, maintaining 0.10m from the award cup with orange highlights.",
+    "Pick up the microphone with cylindrical handle, move it staying 0.10m from the golden trophy, then complete the handoff.",
+    "Secure the smooth plastic microphone handle, route it at least 0.10m from the trophy cup, then hand it over.",
+    "Take the microphone for voice recording with the right arm, hand over to the left arm, keep the microphone for voice recording 0.10m away from the decorative trophy with curved handles.",
+    "Take the microphone with rounded mesh head with the right arm, route it away from the shiny golden prize trophy, then hand it to the left arm.",
+    "Grab the microphone with rounded mesh head, carry it around the medium-sized yellow trophy with 0.10m clearance, then hand over.",
+    "Use the right arm to lift the white microphone handle black accents, then give the white microphone handle black accents to the left arm, avoiding the award cup with orange highlights by 0.10m.",
+    "Lift the microphone with rounded mesh head with the right arm, give the microphone with rounded mesh head to the left arm, keep clear of the shiny golden prize trophy 0.10m.",
+    "Pick up the smooth plastic microphone handle using the right arm, transfer to the left arm, keep 0.10m from the shiny golden prize trophy.",
+    "Let the right arm grasp the microphone with cylindrical handle, move it 0.10m from the decorative trophy with curved handles, then the left arm receives.",
+    "Have the right arm take the handheld microphone, then the left arm takes the handheld microphone, keep 0.10m from the medium-sized yellow trophy."
+  ],
+  "unseen": [
+    "Grab the black and white plastic microphone with the right arm, hand it to the left arm, avoiding the hand-sized shiny gold trophy by 0.10m.",
+    "Use the right arm to grab the lightweight handheld microphone, then pass it to the left arm, avoiding the golden trophy with round base.",
+    "Use the right arm to grab the black and white plastic microphone, pass to the left arm, keep the black and white plastic microphone 0.10m from the hand-sized shiny gold trophy.",
+    "Pick up the microphone used for audio input, avoid the hand-sized shiny gold trophy by 0.10m, pass the microphone used for audio input from the right arm to the left arm.",
+    "Grab the lightweight handheld microphone with the right arm, keep 0.10m from the golden trophy with round base, hand to the left arm.",
+    "With the right arm, grab the black and white plastic microphone, pass to the left arm, keeping the black and white plastic microphone 0.10m from the hand-sized shiny gold trophy.",
+    "Grab the lightweight handheld microphone with the right arm, hand it to the left arm, avoiding the yellow cup with round stand by 0.10m.",
+    "Use the right arm to grab the black and white plastic microphone, then pass it to the left arm, avoiding the yellow cup with round stand.",
+    "Use the right arm to grab the microphone used for audio input, pass to the left arm, keep the microphone used for audio input 0.10m from the yellow cup with round stand.",
+    "Pick up the microphone used for audio input, avoid the hand-sized shiny gold trophy by 0.10m, pass the microphone used for audio input from the right arm to the left arm.",
+    "Grab the lightweight handheld microphone with the right arm, keep 0.10m from the golden trophy with round base, hand to the left arm.",
+    "With the right arm, grab the lightweight handheld microphone, pass to the left arm, keeping the lightweight handheld microphone 0.10m from the hand-sized shiny gold trophy.",
+    "Grab the lightweight handheld microphone with the right arm, hand it to the left arm, avoiding the yellow cup with round stand by 0.10m.",
+    "Use the right arm to grab the black and white plastic microphone, then pass it to the left arm, avoiding the golden trophy with round base.",
+    "Use the right arm to grab the black and white plastic microphone, pass to the left arm, keep the black and white plastic microphone 0.10m from the hand-sized shiny gold trophy.",
+    "Pick up the lightweight handheld microphone, avoid the golden trophy with round base by 0.10m, pass the lightweight handheld microphone from the right arm to the left arm.",
+    "Grab the lightweight handheld microphone with the right arm, keep 0.10m from the yellow cup with round stand, hand to the left arm.",
+    "With the right arm, grab the lightweight handheld microphone, pass to the left arm, keeping the lightweight handheld microphone 0.10m from the golden trophy with round base.",
+    "Grab the microphone used for audio input with the right arm, hand it to the left arm, avoiding the hand-sized shiny gold trophy by 0.10m.",
+    "Use the right arm to grab the black and white plastic microphone, then pass it to the left arm, avoiding the hand-sized shiny gold trophy.",
+    "Use the right arm to grab the lightweight handheld microphone, pass to the left arm, keep the lightweight handheld microphone 0.10m from the yellow cup with round stand.",
+    "Pick up the microphone used for audio input, avoid the yellow cup with round stand by 0.10m, pass the microphone used for audio input from the right arm to the left arm.",
+    "Grab the microphone used for audio input with the right arm, keep 0.10m from the yellow cup with round stand, hand to the left arm.",
+    "With the right arm, grab the black and white plastic microphone, pass to the left arm, keeping the black and white plastic microphone 0.10m from the golden trophy with round base.",
+    "Grab the lightweight handheld microphone with the right arm, hand it to the left arm, avoiding the hand-sized shiny gold trophy by 0.10m.",
+    "Use the right arm to grab the microphone used for audio input, then pass it to the left arm, avoiding the yellow cup with round stand.",
+    "Use the right arm to grab the black and white plastic microphone, pass to the left arm, keep the black and white plastic microphone 0.10m from the yellow cup with round stand.",
+    "Pick up the black and white plastic microphone, avoid the yellow cup with round stand by 0.10m, pass the black and white plastic microphone from the right arm to the left arm.",
+    "Grab the lightweight handheld microphone with the right arm, keep 0.10m from the hand-sized shiny gold trophy, hand to the left arm.",
+    "With the right arm, grab the microphone used for audio input, pass to the left arm, keeping the microphone used for audio input 0.10m from the yellow cup with round stand.",
+    "Grab the microphone used for audio input with the right arm, hand it to the left arm, avoiding the hand-sized shiny gold trophy by 0.10m.",
+    "Use the right arm to grab the black and white plastic microphone, then pass it to the left arm, avoiding the yellow cup with round stand.",
+    "Use the right arm to grab the lightweight handheld microphone, pass to the left arm, keep the lightweight handheld microphone 0.10m from the hand-sized shiny gold trophy.",
+    "Pick up the black and white plastic microphone, avoid the hand-sized shiny gold trophy by 0.10m, pass the black and white plastic microphone from the right arm to the left arm.",
+    "Grab the black and white plastic microphone with the right arm, keep 0.10m from the hand-sized shiny gold trophy, hand to the left arm.",
+    "With the right arm, grab the lightweight handheld microphone, pass to the left arm, keeping the lightweight handheld microphone 0.10m from the yellow cup with round stand.",
+    "Grab the black and white plastic microphone with the right arm, hand it to the left arm, avoiding the golden trophy with round base by 0.10m.",
+    "Use the right arm to grab the lightweight handheld microphone, then pass it to the left arm, avoiding the golden trophy with round base.",
+    "Use the right arm to grab the microphone used for audio input, pass to the left arm, keep the microphone used for audio input 0.10m from the hand-sized shiny gold trophy.",
+    "Pick up the microphone used for audio input, avoid the hand-sized shiny gold trophy by 0.10m, pass the microphone used for audio input from the right arm to the left arm.",
+    "Grab the black and white plastic microphone with the right arm, keep 0.10m from the yellow cup with round stand, hand to the left arm.",
+    "With the right arm, grab the microphone used for audio input, pass to the left arm, keeping the microphone used for audio input 0.10m from the golden trophy with round base.",
+    "Grab the black and white plastic microphone with the right arm, hand it to the left arm, avoiding the hand-sized shiny gold trophy by 0.10m.",
+    "Use the right arm to grab the microphone used for audio input, then pass it to the left arm, avoiding the hand-sized shiny gold trophy.",
+    "Use the right arm to grab the microphone used for audio input, pass to the left arm, keep the microphone used for audio input 0.10m from the golden trophy with round base.",
+    "Pick up the lightweight handheld microphone, avoid the yellow cup with round stand by 0.10m, pass the lightweight handheld microphone from the right arm to the left arm.",
+    "Grab the microphone used for audio input with the right arm, keep 0.10m from the yellow cup with round stand, hand to the left arm.",
+    "With the right arm, grab the black and white plastic microphone, pass to the left arm, keeping the black and white plastic microphone 0.10m from the yellow cup with round stand.",
+    "Grab the lightweight handheld microphone with the right arm, hand it to the left arm, avoiding the golden trophy with round base by 0.10m.",
+    "Use the right arm to grab the lightweight handheld microphone, then pass it to the left arm, avoiding the yellow cup with round stand.",
+    "Use the right arm to grab the lightweight handheld microphone, pass to the left arm, keep the lightweight handheld microphone 0.10m from the golden trophy with round base.",
+    "Pick up the lightweight handheld microphone, avoid the yellow cup with round stand by 0.10m, pass the lightweight handheld microphone from the right arm to the left arm.",
+    "Grab the black and white plastic microphone with the right arm, keep 0.10m from the yellow cup with round stand, hand to the left arm.",
+    "With the right arm, grab the microphone used for audio input, pass to the left arm, keeping the microphone used for audio input 0.10m from the yellow cup with round stand.",
+    "Grab the microphone used for audio input with the right arm, hand it to the left arm, avoiding the golden trophy with round base by 0.10m.",
+    "Use the right arm to grab the microphone used for audio input, then pass it to the left arm, avoiding the yellow cup with round stand.",
+    "Use the right arm to grab the microphone used for audio input, pass to the left arm, keep the microphone used for audio input 0.10m from the yellow cup with round stand.",
+    "Pick up the microphone used for audio input, avoid the yellow cup with round stand by 0.10m, pass the microphone used for audio input from the right arm to the left arm.",
+    "Grab the lightweight handheld microphone with the right arm, keep 0.10m from the hand-sized shiny gold trophy, hand to the left arm.",
+    "With the right arm, grab the microphone used for audio input, pass to the left arm, keeping the microphone used for audio input 0.10m from the golden trophy with round base.",
+    "Grab the microphone used for audio input with the right arm, hand it to the left arm, avoiding the golden trophy with round base by 0.10m.",
+    "Use the right arm to grab the microphone used for audio input, then pass it to the left arm, avoiding the golden trophy with round base.",
+    "Use the right arm to grab the lightweight handheld microphone, pass to the left arm, keep the lightweight handheld microphone 0.10m from the hand-sized shiny gold trophy.",
+    "Pick up the lightweight handheld microphone, avoid the yellow cup with round stand by 0.10m, pass the lightweight handheld microphone from the right arm to the left arm.",
+    "Grab the lightweight handheld microphone with the right arm, keep 0.10m from the golden trophy with round base, hand to the left arm.",
+    "With the right arm, grab the microphone used for audio input, pass to the left arm, keeping the microphone used for audio input 0.10m from the yellow cup with round stand.",
+    "Grab the lightweight handheld microphone with the right arm, hand it to the left arm, avoiding the hand-sized shiny gold trophy by 0.10m.",
+    "Use the right arm to grab the black and white plastic microphone, then pass it to the left arm, avoiding the golden trophy with round base.",
+    "Use the right arm to grab the black and white plastic microphone, pass to the left arm, keep the black and white plastic microphone 0.10m from the hand-sized shiny gold trophy.",
+    "Pick up the microphone used for audio input, avoid the golden trophy with round base by 0.10m, pass the microphone used for audio input from the right arm to the left arm.",
+    "Grab the lightweight handheld microphone with the right arm, keep 0.10m from the yellow cup with round stand, hand to the left arm.",
+    "With the right arm, grab the black and white plastic microphone, pass to the left arm, keeping the black and white plastic microphone 0.10m from the yellow cup with round stand.",
+    "Grab the microphone used for audio input with the right arm, hand it to the left arm, avoiding the yellow cup with round stand by 0.10m.",
+    "Use the right arm to grab the lightweight handheld microphone, then pass it to the left arm, avoiding the yellow cup with round stand.",
+    "Use the right arm to grab the black and white plastic microphone, pass to the left arm, keep the black and white plastic microphone 0.10m from the yellow cup with round stand.",
+    "Pick up the black and white plastic microphone, avoid the yellow cup with round stand by 0.10m, pass the black and white plastic microphone from the right arm to the left arm.",
+    "Grab the black and white plastic microphone with the right arm, keep 0.10m from the hand-sized shiny gold trophy, hand to the left arm.",
+    "With the right arm, grab the black and white plastic microphone, pass to the left arm, keeping the black and white plastic microphone 0.10m from the yellow cup with round stand.",
+    "Grab the lightweight handheld microphone with the right arm, hand it to the left arm, avoiding the hand-sized shiny gold trophy by 0.10m.",
+    "Use the right arm to grab the lightweight handheld microphone, then pass it to the left arm, avoiding the hand-sized shiny gold trophy.",
+    "Use the right arm to grab the black and white plastic microphone, pass to the left arm, keep the black and white plastic microphone 0.10m from the hand-sized shiny gold trophy.",
+    "Pick up the microphone used for audio input, avoid the yellow cup with round stand by 0.10m, pass the microphone used for audio input from the right arm to the left arm.",
+    "Grab the microphone used for audio input with the right arm, keep 0.10m from the yellow cup with round stand, hand to the left arm.",
+    "With the right arm, grab the lightweight handheld microphone, pass to the left arm, keeping the lightweight handheld microphone 0.10m from the hand-sized shiny gold trophy.",
+    "Grab the black and white plastic microphone with the right arm, hand it to the left arm, avoiding the hand-sized shiny gold trophy by 0.10m.",
+    "Use the right arm to grab the microphone used for audio input, then pass it to the left arm, avoiding the yellow cup with round stand.",
+    "Use the right arm to grab the microphone used for audio input, pass to the left arm, keep the microphone used for audio input 0.10m from the hand-sized shiny gold trophy.",
+    "Pick up the lightweight handheld microphone, avoid the yellow cup with round stand by 0.10m, pass the lightweight handheld microphone from the right arm to the left arm.",
+    "Grab the lightweight handheld microphone with the right arm, keep 0.10m from the yellow cup with round stand, hand to the left arm.",
+    "With the right arm, grab the microphone used for audio input, pass to the left arm, keeping the microphone used for audio input 0.10m from the golden trophy with round base.",
+    "Grab the black and white plastic microphone with the right arm, hand it to the left arm, avoiding the yellow cup with round stand by 0.10m.",
+    "Use the right arm to grab the microphone used for audio input, then pass it to the left arm, avoiding the hand-sized shiny gold trophy.",
+    "Use the right arm to grab the microphone used for audio input, pass to the left arm, keep the microphone used for audio input 0.10m from the hand-sized shiny gold trophy.",
+    "Pick up the black and white plastic microphone, avoid the golden trophy with round base by 0.10m, pass the black and white plastic microphone from the right arm to the left arm.",
+    "Grab the black and white plastic microphone with the right arm, keep 0.10m from the hand-sized shiny gold trophy, hand to the left arm.",
+    "With the right arm, grab the microphone used for audio input, pass to the left arm, keeping the microphone used for audio input 0.10m from the golden trophy with round base.",
+    "Grab the black and white plastic microphone with the right arm, hand it to the left arm, avoiding the golden trophy with round base by 0.10m.",
+    "Use the right arm to grab the black and white plastic microphone, then pass it to the left arm, avoiding the golden trophy with round base.",
+    "Use the right arm to grab the microphone used for audio input, pass to the left arm, keep the microphone used for audio input 0.10m from the hand-sized shiny gold trophy.",
+    "Pick up the lightweight handheld microphone, avoid the hand-sized shiny gold trophy by 0.10m, pass the lightweight handheld microphone from the right arm to the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/handover_mic_wp1/handover_mic_wp1/instructions/episode24.json b/handover_mic_wp1/handover_mic_wp1/instructions/episode24.json
new file mode 100644
index 0000000000000000000000000000000000000000..fe3fa819c3ede87f47abb7ae0ecde75b8a79cb68
--- /dev/null
+++ b/handover_mic_wp1/handover_mic_wp1/instructions/episode24.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the smooth plastic microphone handle with the right arm, hand over to the left arm, keep the smooth plastic microphone handle 0.10m away from the decorative trophy with curved handles.",
+    "Use the right arm to lift the microphone with black tip and white body, then give the microphone with black tip and white body to the left arm, avoiding the shiny golden prize trophy by 0.10m.",
+    "Using the right arm, grab the microphone with cylindrical handle, keep 0.10m from the smooth gold cup-shaped trophy, then give the microphone with cylindrical handle to the left arm.",
+    "With the right arm, grasp the microphone for voice recording, then hand the microphone for voice recording to the left arm, avoiding the trophy cup.",
+    "Take the compact size microphone using the right arm, keep away from the trophy cup, and pass to the left arm.",
+    "Pick up the handheld microphone using the right arm, transfer to the left arm, keep 0.10m from the decorative trophy with curved handles.",
+    "Move the microphone with textured metal head from the right arm to the left arm while keeping clear of the two-handled prize trophy.",
+    "Pick up the metal head microphone, move it staying 0.10m from the gold cup with handles, then complete the handoff.",
+    "Take the metal head microphone with the right arm, route it away from the golden award with orange edges, then hand it to the left arm.",
+    "With the right arm, take the smooth plastic microphone handle, keep distance from the medium-sized yellow trophy, and give the smooth plastic microphone handle to the left arm.",
+    "Lift the microphone with textured metal head, keep it 0.10m away from the shiny golden prize trophy, then pass it across.",
+    "Have the right arm grasp the black and white microphone, avoid the medium-sized yellow trophy by 0.10m, and transfer the black and white microphone to the left arm.",
+    "Pick up the compact size microphone with the right arm, transfer to the left arm, stay away from the shiny golden prize trophy.",
+    "Let the right arm grasp the handheld microphone, move it 0.10m from the award cup with orange highlights, then the left arm receives.",
+    "Grab the microphone with rounded mesh head, carry it around the two-handled prize trophy with 0.10m clearance, then hand over.",
+    "Have the right arm take the microphone with rounded mesh head, then the left arm takes the microphone with rounded mesh head, keep 0.10m from the gold cup with handles.",
+    "Using the right arm, take the white microphone handle black accents and hand to the left arm, keeping 0.10m from the glossy yellow trophy with base.",
+    "Secure the mesh-patterned microphone head, route it at least 0.10m from the medium-sized yellow trophy, then hand it over.",
+    "Get the microphone with black tip and white body with the right arm, shift the microphone with black tip and white body to the left arm, maintaining 0.10m from the award trophy.",
+    "Lift the microphone for voice recording with the right arm, give the microphone for voice recording to the left arm, keep clear of the golden trophy 0.10m.",
+    "Take the compact size microphone with the right arm, hand over to the left arm, keep the compact size microphone 0.10m away from the golden trophy.",
+    "Use the right arm to lift the microphone with black tip and white body, then give the microphone with black tip and white body to the left arm, avoiding the glossy yellow trophy with base by 0.10m.",
+    "Using the right arm, grab the microphone with cylindrical handle, keep 0.10m from the two-handled prize trophy, then give the microphone with cylindrical handle to the left arm.",
+    "With the right arm, grasp the black and white microphone, then hand the black and white microphone to the left arm, avoiding the smooth gold cup-shaped trophy.",
+    "Take the microphone with black tip and white body using the right arm, keep away from the golden award with orange edges, and pass to the left arm.",
+    "Pick up the smooth plastic microphone handle using the right arm, transfer to the left arm, keep 0.10m from the shiny golden prize trophy.",
+    "Move the microphone with cylindrical handle from the right arm to the left arm while keeping clear of the gold cup with handles.",
+    "Pick up the microphone with textured metal head, move it staying 0.10m from the golden award with orange edges, then complete the handoff.",
+    "Take the compact size microphone with the right arm, route it away from the decorative trophy with curved handles, then hand it to the left arm.",
+    "With the right arm, take the microphone with rounded mesh head, keep distance from the award cup with orange highlights, and give the microphone with rounded mesh head to the left arm.",
+    "Lift the smooth plastic microphone handle, keep it 0.10m away from the decorative trophy with curved handles, then pass it across.",
+    "Have the right arm grasp the black and white microphone, avoid the award cup with orange highlights by 0.10m, and transfer the black and white microphone to the left arm.",
+    "Pick up the microphone with black tip and white body with the right arm, transfer to the left arm, stay away from the golden award with orange edges.",
+    "Let the right arm grasp the mesh-patterned microphone head, move it 0.10m from the decorative trophy with curved handles, then the left arm receives.",
+    "Grab the metal head microphone, carry it around the award trophy with 0.10m clearance, then hand over.",
+    "Have the right arm take the smooth plastic microphone handle, then the left arm takes the smooth plastic microphone handle, keep 0.10m from the glossy yellow trophy with base.",
+    "Using the right arm, take the handheld microphone and hand to the left arm, keeping 0.10m from the award cup with orange highlights.",
+    "Secure the compact size microphone, route it at least 0.10m from the two-handled prize trophy, then hand it over.",
+    "Get the microphone with textured metal head with the right arm, shift the microphone with textured metal head to the left arm, maintaining 0.10m from the gold cup with handles.",
+    "Lift the black and white microphone with the right arm, give the black and white microphone to the left arm, keep clear of the trophy cup 0.10m.",
+    "Take the mesh-patterned microphone head with the right arm, hand over to the left arm, keep the mesh-patterned microphone head 0.10m away from the medium-sized yellow trophy.",
+    "Use the right arm to lift the compact size microphone, then give the compact size microphone to the left arm, avoiding the glossy yellow trophy with base by 0.10m.",
+    "Using the right arm, grab the mesh-patterned microphone head, keep 0.10m from the gold cup with handles, then give the mesh-patterned microphone head to the left arm.",
+    "With the right arm, grasp the microphone for voice recording, then hand the microphone for voice recording to the left arm, avoiding the two-handled prize trophy.",
+    "Take the microphone with black tip and white body using the right arm, keep away from the award trophy, and pass to the left arm.",
+    "Pick up the microphone with rounded mesh head using the right arm, transfer to the left arm, keep 0.10m from the golden award with orange edges.",
+    "Move the microphone with textured metal head from the right arm to the left arm while keeping clear of the two-handled prize trophy.",
+    "Pick up the handheld microphone, move it staying 0.10m from the golden trophy, then complete the handoff.",
+    "Take the microphone for voice recording with the right arm, route it away from the decorative trophy with curved handles, then hand it to the left arm.",
+    "With the right arm, take the white microphone handle black accents, keep distance from the golden award with orange edges, and give the white microphone handle black accents to the left arm.",
+    "Lift the handheld microphone, keep it 0.10m away from the medium-sized yellow trophy, then pass it across.",
+    "Have the right arm grasp the smooth plastic microphone handle, avoid the smooth gold cup-shaped trophy by 0.10m, and transfer the smooth plastic microphone handle to the left arm.",
+    "Pick up the mesh-patterned microphone head with the right arm, transfer to the left arm, stay away from the gold cup with handles.",
+    "Let the right arm grasp the microphone for voice recording, move it 0.10m from the glossy yellow trophy with base, then the left arm receives.",
+    "Grab the microphone with textured metal head, carry it around the shiny golden prize trophy with 0.10m clearance, then hand over.",
+    "Have the right arm take the microphone with cylindrical handle, then the left arm takes the microphone with cylindrical handle, keep 0.10m from the trophy cup.",
+    "Using the right arm, take the white microphone handle black accents and hand to the left arm, keeping 0.10m from the gold cup with handles.",
+    "Secure the handheld microphone, route it at least 0.10m from the medium-sized yellow trophy, then hand it over.",
+    "Get the white microphone handle black accents with the right arm, shift the white microphone handle black accents to the left arm, maintaining 0.10m from the smooth gold cup-shaped trophy.",
+    "Lift the compact size microphone with the right arm, give the compact size microphone to the left arm, keep clear of the golden trophy 0.10m.",
+    "Take the handheld microphone with the right arm, hand over to the left arm, keep the handheld microphone 0.10m away from the glossy yellow trophy with base.",
+    "Use the right arm to lift the handheld microphone, then give the handheld microphone to the left arm, avoiding the golden trophy by 0.10m.",
+    "Using the right arm, grab the black and white microphone, keep 0.10m from the gold cup with handles, then give the black and white microphone to the left arm.",
+    "With the right arm, grasp the smooth plastic microphone handle, then hand the smooth plastic microphone handle to the left arm, avoiding the golden trophy.",
+    "Take the microphone with cylindrical handle using the right arm, keep away from the two-handled prize trophy, and pass to the left arm.",
+    "Pick up the white microphone handle black accents using the right arm, transfer to the left arm, keep 0.10m from the glossy yellow trophy with base.",
+    "Move the microphone for voice recording from the right arm to the left arm while keeping clear of the golden trophy.",
+    "Pick up the white microphone handle black accents, move it staying 0.10m from the two-handled prize trophy, then complete the handoff.",
+    "Take the mesh-patterned microphone head with the right arm, route it away from the medium-sized yellow trophy, then hand it to the left arm.",
+    "With the right arm, take the black and white microphone, keep distance from the golden trophy, and give the black and white microphone to the left arm.",
+    "Lift the smooth plastic microphone handle, keep it 0.10m away from the medium-sized yellow trophy, then pass it across.",
+    "Have the right arm grasp the smooth plastic microphone handle, avoid the gold cup with handles by 0.10m, and transfer the smooth plastic microphone handle to the left arm.",
+    "Pick up the metal head microphone with the right arm, transfer to the left arm, stay away from the golden award with orange edges.",
+    "Let the right arm grasp the compact size microphone, move it 0.10m from the decorative trophy with curved handles, then the left arm receives.",
+    "Grab the microphone with rounded mesh head, carry it around the golden award with orange edges with 0.10m clearance, then hand over.",
+    "Have the right arm take the mesh-patterned microphone head, then the left arm takes the mesh-patterned microphone head, keep 0.10m from the glossy yellow trophy with base.",
+    "Using the right arm, take the microphone for voice recording and hand to the left arm, keeping 0.10m from the glossy yellow trophy with base.",
+    "Secure the microphone with cylindrical handle, route it at least 0.10m from the shiny golden prize trophy, then hand it over.",
+    "Get the smooth plastic microphone handle with the right arm, shift the smooth plastic microphone handle to the left arm, maintaining 0.10m from the trophy cup.",
+    "Lift the mesh-patterned microphone head with the right arm, give the mesh-patterned microphone head to the left arm, keep clear of the award trophy 0.10m.",
+    "Take the microphone for voice recording with the right arm, hand over to the left arm, keep the microphone for voice recording 0.10m away from the smooth gold cup-shaped trophy.",
+    "Use the right arm to lift the smooth plastic microphone handle, then give the smooth plastic microphone handle to the left arm, avoiding the smooth gold cup-shaped trophy by 0.10m.",
+    "Using the right arm, grab the microphone with textured metal head, keep 0.10m from the trophy cup, then give the microphone with textured metal head to the left arm.",
+    "With the right arm, grasp the black and white microphone, then hand the black and white microphone to the left arm, avoiding the gold cup with handles.",
+    "Take the handheld microphone using the right arm, keep away from the smooth gold cup-shaped trophy, and pass to the left arm.",
+    "Pick up the handheld microphone using the right arm, transfer to the left arm, keep 0.10m from the glossy yellow trophy with base.",
+    "Move the metal head microphone from the right arm to the left arm while keeping clear of the golden trophy.",
+    "Pick up the microphone for voice recording, move it staying 0.10m from the award trophy, then complete the handoff.",
+    "Take the microphone with textured metal head with the right arm, route it away from the smooth gold cup-shaped trophy, then hand it to the left arm.",
+    "With the right arm, take the microphone for voice recording, keep distance from the smooth gold cup-shaped trophy, and give the microphone for voice recording to the left arm.",
+    "Lift the microphone for voice recording, keep it 0.10m away from the medium-sized yellow trophy, then pass it across.",
+    "Have the right arm grasp the compact size microphone, avoid the award trophy by 0.10m, and transfer the compact size microphone to the left arm.",
+    "Pick up the microphone with black tip and white body with the right arm, transfer to the left arm, stay away from the smooth gold cup-shaped trophy.",
+    "Let the right arm grasp the white microphone handle black accents, move it 0.10m from the glossy yellow trophy with base, then the left arm receives.",
+    "Grab the microphone with black tip and white body, carry it around the smooth gold cup-shaped trophy with 0.10m clearance, then hand over.",
+    "Have the right arm take the microphone with black tip and white body, then the left arm takes the microphone with black tip and white body, keep 0.10m from the decorative trophy with curved handles.",
+    "Using the right arm, take the microphone for voice recording and hand to the left arm, keeping 0.10m from the smooth gold cup-shaped trophy.",
+    "Secure the handheld microphone, route it at least 0.10m from the award trophy, then hand it over.",
+    "Get the metal head microphone with the right arm, shift the metal head microphone to the left arm, maintaining 0.10m from the decorative trophy with curved handles.",
+    "Lift the microphone with cylindrical handle with the right arm, give the microphone with cylindrical handle to the left arm, keep clear of the decorative trophy with curved handles 0.10m."
+  ],
+  "unseen": [
+    "Grab the microphone used for audio input with the right arm, hand it to the left arm, avoiding the yellow cup with round stand by 0.10m.",
+    "Pick up the black and white plastic microphone, avoid the golden trophy with round base by 0.10m, pass the black and white plastic microphone from the right arm to the left arm.",
+    "Grab the microphone used for audio input with the right arm, keep 0.10m from the yellow cup with round stand, hand to the left arm.",
+    "With the right arm, grab the microphone used for audio input, pass to the left arm, keeping the microphone used for audio input 0.10m from the yellow cup with round stand.",
+    "Use the right arm to grab the black and white plastic microphone, pass to the left arm, keep the black and white plastic microphone 0.10m from the golden trophy with round base.",
+    "Use the right arm to grab the microphone used for audio input, then pass it to the left arm, avoiding the hand-sized shiny gold trophy.",
+    "Grab the microphone used for audio input with the right arm, hand it to the left arm, avoiding the golden trophy with round base by 0.10m.",
+    "Pick up the microphone used for audio input, avoid the yellow cup with round stand by 0.10m, pass the microphone used for audio input from the right arm to the left arm.",
+    "Grab the lightweight handheld microphone with the right arm, keep 0.10m from the hand-sized shiny gold trophy, hand to the left arm.",
+    "With the right arm, grab the lightweight handheld microphone, pass to the left arm, keeping the lightweight handheld microphone 0.10m from the hand-sized shiny gold trophy.",
+    "Use the right arm to grab the lightweight handheld microphone, pass to the left arm, keep the lightweight handheld microphone 0.10m from the hand-sized shiny gold trophy.",
+    "Use the right arm to grab the lightweight handheld microphone, then pass it to the left arm, avoiding the hand-sized shiny gold trophy.",
+    "Grab the lightweight handheld microphone with the right arm, hand it to the left arm, avoiding the yellow cup with round stand by 0.10m.",
+    "Pick up the microphone used for audio input, avoid the yellow cup with round stand by 0.10m, pass the microphone used for audio input from the right arm to the left arm.",
+    "Grab the microphone used for audio input with the right arm, keep 0.10m from the hand-sized shiny gold trophy, hand to the left arm.",
+    "With the right arm, grab the black and white plastic microphone, pass to the left arm, keeping the black and white plastic microphone 0.10m from the yellow cup with round stand.",
+    "Use the right arm to grab the microphone used for audio input, pass to the left arm, keep the microphone used for audio input 0.10m from the hand-sized shiny gold trophy.",
+    "Use the right arm to grab the lightweight handheld microphone, then pass it to the left arm, avoiding the yellow cup with round stand.",
+    "Grab the microphone used for audio input with the right arm, hand it to the left arm, avoiding the hand-sized shiny gold trophy by 0.10m.",
+    "Pick up the microphone used for audio input, avoid the hand-sized shiny gold trophy by 0.10m, pass the microphone used for audio input from the right arm to the left arm.",
+    "Grab the lightweight handheld microphone with the right arm, keep 0.10m from the hand-sized shiny gold trophy, hand to the left arm.",
+    "With the right arm, grab the microphone used for audio input, pass to the left arm, keeping the microphone used for audio input 0.10m from the golden trophy with round base.",
+    "Use the right arm to grab the microphone used for audio input, pass to the left arm, keep the microphone used for audio input 0.10m from the golden trophy with round base.",
+    "Use the right arm to grab the lightweight handheld microphone, then pass it to the left arm, avoiding the yellow cup with round stand.",
+    "Grab the lightweight handheld microphone with the right arm, hand it to the left arm, avoiding the hand-sized shiny gold trophy by 0.10m.",
+    "Pick up the microphone used for audio input, avoid the hand-sized shiny gold trophy by 0.10m, pass the microphone used for audio input from the right arm to the left arm.",
+    "Grab the microphone used for audio input with the right arm, keep 0.10m from the hand-sized shiny gold trophy, hand to the left arm.",
+    "With the right arm, grab the lightweight handheld microphone, pass to the left arm, keeping the lightweight handheld microphone 0.10m from the yellow cup with round stand.",
+    "Use the right arm to grab the microphone used for audio input, pass to the left arm, keep the microphone used for audio input 0.10m from the golden trophy with round base.",
+    "Use the right arm to grab the microphone used for audio input, then pass it to the left arm, avoiding the hand-sized shiny gold trophy.",
+    "Grab the black and white plastic microphone with the right arm, hand it to the left arm, avoiding the golden trophy with round base by 0.10m.",
+    "Pick up the microphone used for audio input, avoid the yellow cup with round stand by 0.10m, pass the microphone used for audio input from the right arm to the left arm.",
+    "Grab the microphone used for audio input with the right arm, keep 0.10m from the yellow cup with round stand, hand to the left arm.",
+    "With the right arm, grab the lightweight handheld microphone, pass to the left arm, keeping the lightweight handheld microphone 0.10m from the golden trophy with round base.",
+    "Use the right arm to grab the black and white plastic microphone, pass to the left arm, keep the black and white plastic microphone 0.10m from the hand-sized shiny gold trophy.",
+    "Use the right arm to grab the lightweight handheld microphone, then pass it to the left arm, avoiding the golden trophy with round base.",
+    "Grab the lightweight handheld microphone with the right arm, hand it to the left arm, avoiding the yellow cup with round stand by 0.10m.",
+    "Pick up the black and white plastic microphone, avoid the hand-sized shiny gold trophy by 0.10m, pass the black and white plastic microphone from the right arm to the left arm.",
+    "Grab the lightweight handheld microphone with the right arm, keep 0.10m from the yellow cup with round stand, hand to the left arm.",
+    "With the right arm, grab the black and white plastic microphone, pass to the left arm, keeping the black and white plastic microphone 0.10m from the hand-sized shiny gold trophy.",
+    "Use the right arm to grab the black and white plastic microphone, pass to the left arm, keep the black and white plastic microphone 0.10m from the hand-sized shiny gold trophy.",
+    "Use the right arm to grab the lightweight handheld microphone, then pass it to the left arm, avoiding the yellow cup with round stand.",
+    "Grab the microphone used for audio input with the right arm, hand it to the left arm, avoiding the golden trophy with round base by 0.10m.",
+    "Pick up the lightweight handheld microphone, avoid the yellow cup with round stand by 0.10m, pass the lightweight handheld microphone from the right arm to the left arm.",
+    "Grab the black and white plastic microphone with the right arm, keep 0.10m from the hand-sized shiny gold trophy, hand to the left arm.",
+    "With the right arm, grab the lightweight handheld microphone, pass to the left arm, keeping the lightweight handheld microphone 0.10m from the hand-sized shiny gold trophy.",
+    "Use the right arm to grab the black and white plastic microphone, pass to the left arm, keep the black and white plastic microphone 0.10m from the yellow cup with round stand.",
+    "Use the right arm to grab the black and white plastic microphone, then pass it to the left arm, avoiding the golden trophy with round base.",
+    "Grab the black and white plastic microphone with the right arm, hand it to the left arm, avoiding the yellow cup with round stand by 0.10m.",
+    "Pick up the black and white plastic microphone, avoid the hand-sized shiny gold trophy by 0.10m, pass the black and white plastic microphone from the right arm to the left arm.",
+    "Grab the lightweight handheld microphone with the right arm, keep 0.10m from the hand-sized shiny gold trophy, hand to the left arm.",
+    "With the right arm, grab the lightweight handheld microphone, pass to the left arm, keeping the lightweight handheld microphone 0.10m from the yellow cup with round stand.",
+    "Use the right arm to grab the lightweight handheld microphone, pass to the left arm, keep the lightweight handheld microphone 0.10m from the yellow cup with round stand.",
+    "Use the right arm to grab the lightweight handheld microphone, then pass it to the left arm, avoiding the yellow cup with round stand.",
+    "Grab the lightweight handheld microphone with the right arm, hand it to the left arm, avoiding the hand-sized shiny gold trophy by 0.10m.",
+    "Pick up the lightweight handheld microphone, avoid the hand-sized shiny gold trophy by 0.10m, pass the lightweight handheld microphone from the right arm to the left arm.",
+    "Grab the black and white plastic microphone with the right arm, keep 0.10m from the golden trophy with round base, hand to the left arm.",
+    "With the right arm, grab the black and white plastic microphone, pass to the left arm, keeping the black and white plastic microphone 0.10m from the yellow cup with round stand.",
+    "Use the right arm to grab the microphone used for audio input, pass to the left arm, keep the microphone used for audio input 0.10m from the hand-sized shiny gold trophy.",
+    "Use the right arm to grab the black and white plastic microphone, then pass it to the left arm, avoiding the hand-sized shiny gold trophy.",
+    "Grab the lightweight handheld microphone with the right arm, hand it to the left arm, avoiding the yellow cup with round stand by 0.10m.",
+    "Pick up the black and white plastic microphone, avoid the hand-sized shiny gold trophy by 0.10m, pass the black and white plastic microphone from the right arm to the left arm.",
+    "Grab the black and white plastic microphone with the right arm, keep 0.10m from the hand-sized shiny gold trophy, hand to the left arm.",
+    "With the right arm, grab the microphone used for audio input, pass to the left arm, keeping the microphone used for audio input 0.10m from the hand-sized shiny gold trophy.",
+    "Use the right arm to grab the black and white plastic microphone, pass to the left arm, keep the black and white plastic microphone 0.10m from the yellow cup with round stand.",
+    "Use the right arm to grab the black and white plastic microphone, then pass it to the left arm, avoiding the golden trophy with round base.",
+    "Grab the microphone used for audio input with the right arm, hand it to the left arm, avoiding the yellow cup with round stand by 0.10m.",
+    "Pick up the black and white plastic microphone, avoid the golden trophy with round base by 0.10m, pass the black and white plastic microphone from the right arm to the left arm.",
+    "Grab the black and white plastic microphone with the right arm, keep 0.10m from the hand-sized shiny gold trophy, hand to the left arm.",
+    "With the right arm, grab the microphone used for audio input, pass to the left arm, keeping the microphone used for audio input 0.10m from the hand-sized shiny gold trophy.",
+    "Use the right arm to grab the lightweight handheld microphone, pass to the left arm, keep the lightweight handheld microphone 0.10m from the hand-sized shiny gold trophy.",
+    "Use the right arm to grab the microphone used for audio input, then pass it to the left arm, avoiding the yellow cup with round stand.",
+    "Grab the black and white plastic microphone with the right arm, hand it to the left arm, avoiding the yellow cup with round stand by 0.10m.",
+    "Pick up the microphone used for audio input, avoid the hand-sized shiny gold trophy by 0.10m, pass the microphone used for audio input from the right arm to the left arm.",
+    "Grab the microphone used for audio input with the right arm, keep 0.10m from the hand-sized shiny gold trophy, hand to the left arm.",
+    "With the right arm, grab the microphone used for audio input, pass to the left arm, keeping the microphone used for audio input 0.10m from the golden trophy with round base.",
+    "Use the right arm to grab the microphone used for audio input, pass to the left arm, keep the microphone used for audio input 0.10m from the golden trophy with round base.",
+    "Use the right arm to grab the black and white plastic microphone, then pass it to the left arm, avoiding the yellow cup with round stand.",
+    "Grab the black and white plastic microphone with the right arm, hand it to the left arm, avoiding the yellow cup with round stand by 0.10m.",
+    "Pick up the microphone used for audio input, avoid the yellow cup with round stand by 0.10m, pass the microphone used for audio input from the right arm to the left arm.",
+    "Grab the lightweight handheld microphone with the right arm, keep 0.10m from the golden trophy with round base, hand to the left arm.",
+    "With the right arm, grab the lightweight handheld microphone, pass to the left arm, keeping the lightweight handheld microphone 0.10m from the yellow cup with round stand.",
+    "Use the right arm to grab the lightweight handheld microphone, pass to the left arm, keep the lightweight handheld microphone 0.10m from the yellow cup with round stand.",
+    "Use the right arm to grab the black and white plastic microphone, then pass it to the left arm, avoiding the golden trophy with round base.",
+    "Grab the black and white plastic microphone with the right arm, hand it to the left arm, avoiding the hand-sized shiny gold trophy by 0.10m.",
+    "Pick up the black and white plastic microphone, avoid the hand-sized shiny gold trophy by 0.10m, pass the black and white plastic microphone from the right arm to the left arm.",
+    "Grab the lightweight handheld microphone with the right arm, keep 0.10m from the yellow cup with round stand, hand to the left arm.",
+    "With the right arm, grab the black and white plastic microphone, pass to the left arm, keeping the black and white plastic microphone 0.10m from the hand-sized shiny gold trophy.",
+    "Use the right arm to grab the microphone used for audio input, pass to the left arm, keep the microphone used for audio input 0.10m from the golden trophy with round base.",
+    "Use the right arm to grab the black and white plastic microphone, then pass it to the left arm, avoiding the hand-sized shiny gold trophy.",
+    "Grab the microphone used for audio input with the right arm, hand it to the left arm, avoiding the yellow cup with round stand by 0.10m.",
+    "Pick up the lightweight handheld microphone, avoid the yellow cup with round stand by 0.10m, pass the lightweight handheld microphone from the right arm to the left arm.",
+    "Grab the lightweight handheld microphone with the right arm, keep 0.10m from the hand-sized shiny gold trophy, hand to the left arm.",
+    "With the right arm, grab the microphone used for audio input, pass to the left arm, keeping the microphone used for audio input 0.10m from the golden trophy with round base.",
+    "Use the right arm to grab the black and white plastic microphone, pass to the left arm, keep the black and white plastic microphone 0.10m from the golden trophy with round base.",
+    "Use the right arm to grab the black and white plastic microphone, then pass it to the left arm, avoiding the golden trophy with round base.",
+    "Grab the lightweight handheld microphone with the right arm, hand it to the left arm, avoiding the yellow cup with round stand by 0.10m.",
+    "Pick up the microphone used for audio input, avoid the hand-sized shiny gold trophy by 0.10m, pass the microphone used for audio input from the right arm to the left arm.",
+    "Grab the microphone used for audio input with the right arm, keep 0.10m from the yellow cup with round stand, hand to the left arm.",
+    "With the right arm, grab the microphone used for audio input, pass to the left arm, keeping the microphone used for audio input 0.10m from the yellow cup with round stand."
+  ]
+}
\ No newline at end of file
diff --git a/handover_mic_wp1/handover_mic_wp1/instructions/episode25.json b/handover_mic_wp1/handover_mic_wp1/instructions/episode25.json
new file mode 100644
index 0000000000000000000000000000000000000000..8298926150979d239b7f1c2f916ac746c0d32dca
--- /dev/null
+++ b/handover_mic_wp1/handover_mic_wp1/instructions/episode25.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to lift the mesh-patterned microphone head, then give the mesh-patterned microphone head to the left arm, avoiding the gold trophy on square black base by 0.10m.",
+    "Lift the smooth plastic microphone handle with the right arm, give the smooth plastic microphone handle to the left arm, keep clear of the trophy with dangling ribbons 0.10m.",
+    "Grab the microphone for voice recording, carry it around the cup-shaped trophy with handles with 0.10m clearance, then hand over.",
+    "Let the right arm grasp the black and white microphone, move it 0.10m from the trophy with dangling ribbons, then the left arm receives.",
+    "Using the right arm, take the handheld microphone and hand to the left arm, keeping 0.10m from the medium trophy with gold and black colors.",
+    "Have the right arm take the white microphone handle black accents, then the left arm takes the white microphone handle black accents, keep 0.10m from the trophy cup with curved sides.",
+    "Have the right arm grasp the microphone with black tip and white body, avoid the medium-sized golden trophy by 0.10m, and transfer the microphone with black tip and white body to the left arm.",
+    "Get the black and white microphone with the right arm, shift the black and white microphone to the left arm, maintaining 0.10m from the medium trophy with gold and black colors.",
+    "Move the handheld microphone from the right arm to the left arm while keeping clear of the gold award cup with two handles.",
+    "Pick up the microphone with black tip and white body using the right arm, transfer to the left arm, keep 0.10m from the medium-sized golden trophy.",
+    "Take the microphone with black tip and white body with the right arm, hand over to the left arm, keep the microphone with black tip and white body 0.10m away from the decorative trophy with curved handles.",
+    "Pick up the microphone with rounded mesh head, move it staying 0.10m from the trophy with dangling ribbons, then complete the handoff.",
+    "Pick up the compact size microphone with the right arm, transfer to the left arm, stay away from the black bottom trophy with smooth finish.",
+    "Take the black and white microphone using the right arm, keep away from the medium-sized golden trophy, and pass to the left arm.",
+    "With the right arm, take the microphone for voice recording, keep distance from the trophy cup with curved sides, and give the microphone for voice recording to the left arm.",
+    "Lift the metal head microphone, keep it 0.10m away from the gold trophy, then pass it across.",
+    "Take the microphone with black tip and white body with the right arm, route it away from the medium trophy with gold and black colors, then hand it to the left arm.",
+    "Secure the metal head microphone, route it at least 0.10m from the medium-sized golden trophy, then hand it over.",
+    "With the right arm, grasp the smooth plastic microphone handle, then hand the smooth plastic microphone handle to the left arm, avoiding the trophy cup with curved sides.",
+    "Using the right arm, grab the microphone with cylindrical handle, keep 0.10m from the gold trophy on square black base, then give the microphone with cylindrical handle to the left arm.",
+    "Use the right arm to lift the handheld microphone, then give the handheld microphone to the left arm, avoiding the gold trophy by 0.10m.",
+    "Lift the smooth plastic microphone handle with the right arm, give the smooth plastic microphone handle to the left arm, keep clear of the decorative trophy with curved handles 0.10m.",
+    "Grab the microphone with textured metal head, carry it around the medium trophy with gold and black colors with 0.10m clearance, then hand over.",
+    "Let the right arm grasp the compact size microphone, move it 0.10m from the gold trophy, then the left arm receives.",
+    "Using the right arm, take the microphone with textured metal head and hand to the left arm, keeping 0.10m from the trophy cup with curved sides.",
+    "Have the right arm take the mesh-patterned microphone head, then the left arm takes the mesh-patterned microphone head, keep 0.10m from the trophy with dangling ribbons.",
+    "Have the right arm grasp the handheld microphone, avoid the medium trophy with gold and black colors by 0.10m, and transfer the handheld microphone to the left arm.",
+    "Get the microphone with rounded mesh head with the right arm, shift the microphone with rounded mesh head to the left arm, maintaining 0.10m from the black bottom trophy with smooth finish.",
+    "Move the microphone with cylindrical handle from the right arm to the left arm while keeping clear of the trophy with dangling ribbons.",
+    "Pick up the handheld microphone using the right arm, transfer to the left arm, keep 0.10m from the trophy with dangling ribbons.",
+    "Take the metal head microphone with the right arm, hand over to the left arm, keep the metal head microphone 0.10m away from the medium-sized golden trophy.",
+    "Pick up the smooth plastic microphone handle, move it staying 0.10m from the medium-sized golden trophy, then complete the handoff.",
+    "Pick up the handheld microphone with the right arm, transfer to the left arm, stay away from the cup-shaped trophy with handles.",
+    "Take the microphone with textured metal head using the right arm, keep away from the medium-sized golden trophy, and pass to the left arm.",
+    "With the right arm, take the white microphone handle black accents, keep distance from the black bottom trophy with smooth finish, and give the white microphone handle black accents to the left arm.",
+    "Lift the mesh-patterned microphone head, keep it 0.10m away from the gold award cup with two handles, then pass it across.",
+    "Take the metal head microphone with the right arm, route it away from the shiny trophy with top knob, then hand it to the left arm.",
+    "Secure the microphone with rounded mesh head, route it at least 0.10m from the gold trophy on square black base, then hand it over.",
+    "With the right arm, grasp the white microphone handle black accents, then hand the white microphone handle black accents to the left arm, avoiding the medium-sized golden trophy.",
+    "Using the right arm, grab the mesh-patterned microphone head, keep 0.10m from the medium trophy with gold and black colors, then give the mesh-patterned microphone head to the left arm.",
+    "Use the right arm to lift the smooth plastic microphone handle, then give the smooth plastic microphone handle to the left arm, avoiding the black bottom trophy with smooth finish by 0.10m.",
+    "Lift the microphone for voice recording with the right arm, give the microphone for voice recording to the left arm, keep clear of the shiny trophy with top knob 0.10m.",
+    "Grab the handheld microphone, carry it around the trophy cup with curved sides with 0.10m clearance, then hand over.",
+    "Let the right arm grasp the black and white microphone, move it 0.10m from the trophy cup with curved sides, then the left arm receives.",
+    "Using the right arm, take the microphone with black tip and white body and hand to the left arm, keeping 0.10m from the black bottom trophy with smooth finish.",
+    "Have the right arm take the compact size microphone, then the left arm takes the compact size microphone, keep 0.10m from the gold trophy on square black base.",
+    "Have the right arm grasp the metal head microphone, avoid the medium-sized golden trophy by 0.10m, and transfer the metal head microphone to the left arm.",
+    "Get the black and white microphone with the right arm, shift the black and white microphone to the left arm, maintaining 0.10m from the gold trophy on square black base.",
+    "Move the microphone with rounded mesh head from the right arm to the left arm while keeping clear of the decorative trophy with curved handles.",
+    "Pick up the white microphone handle black accents using the right arm, transfer to the left arm, keep 0.10m from the cup-shaped trophy with handles.",
+    "Take the mesh-patterned microphone head with the right arm, hand over to the left arm, keep the mesh-patterned microphone head 0.10m away from the trophy with dangling ribbons.",
+    "Pick up the microphone with cylindrical handle, move it staying 0.10m from the trophy cup with curved sides, then complete the handoff.",
+    "Pick up the microphone with rounded mesh head with the right arm, transfer to the left arm, stay away from the medium-sized golden trophy.",
+    "Take the compact size microphone using the right arm, keep away from the trophy with dangling ribbons, and pass to the left arm.",
+    "With the right arm, take the mesh-patterned microphone head, keep distance from the gold award cup with two handles, and give the mesh-patterned microphone head to the left arm.",
+    "Lift the mesh-patterned microphone head, keep it 0.10m away from the black bottom trophy with smooth finish, then pass it across.",
+    "Take the smooth plastic microphone handle with the right arm, route it away from the gold award cup with two handles, then hand it to the left arm.",
+    "Secure the microphone with textured metal head, route it at least 0.10m from the gold trophy on square black base, then hand it over.",
+    "With the right arm, grasp the microphone with textured metal head, then hand the microphone with textured metal head to the left arm, avoiding the trophy cup with curved sides.",
+    "Using the right arm, grab the black and white microphone, keep 0.10m from the trophy cup with curved sides, then give the black and white microphone to the left arm.",
+    "Use the right arm to lift the microphone with cylindrical handle, then give the microphone with cylindrical handle to the left arm, avoiding the medium-sized golden trophy by 0.10m.",
+    "Lift the microphone with black tip and white body with the right arm, give the microphone with black tip and white body to the left arm, keep clear of the gold trophy 0.10m.",
+    "Grab the black and white microphone, carry it around the golden award trophy with black base with 0.10m clearance, then hand over.",
+    "Let the right arm grasp the microphone with rounded mesh head, move it 0.10m from the medium trophy with gold and black colors, then the left arm receives.",
+    "Using the right arm, take the smooth plastic microphone handle and hand to the left arm, keeping 0.10m from the golden award trophy with black base.",
+    "Have the right arm take the microphone with rounded mesh head, then the left arm takes the microphone with rounded mesh head, keep 0.10m from the medium-sized golden trophy.",
+    "Have the right arm grasp the white microphone handle black accents, avoid the gold trophy by 0.10m, and transfer the white microphone handle black accents to the left arm.",
+    "Get the white microphone handle black accents with the right arm, shift the white microphone handle black accents to the left arm, maintaining 0.10m from the decorative trophy with curved handles.",
+    "Move the microphone with cylindrical handle from the right arm to the left arm while keeping clear of the medium-sized golden trophy.",
+    "Pick up the black and white microphone using the right arm, transfer to the left arm, keep 0.10m from the gold award cup with two handles.",
+    "Take the white microphone handle black accents with the right arm, hand over to the left arm, keep the white microphone handle black accents 0.10m away from the shiny trophy with top knob.",
+    "Pick up the microphone with rounded mesh head, move it staying 0.10m from the gold trophy, then complete the handoff.",
+    "Pick up the microphone for voice recording with the right arm, transfer to the left arm, stay away from the shiny trophy with top knob.",
+    "Take the microphone with cylindrical handle using the right arm, keep away from the shiny trophy with top knob, and pass to the left arm.",
+    "With the right arm, take the microphone with textured metal head, keep distance from the golden award trophy with black base, and give the microphone with textured metal head to the left arm.",
+    "Lift the microphone with rounded mesh head, keep it 0.10m away from the gold trophy on square black base, then pass it across.",
+    "Take the microphone for voice recording with the right arm, route it away from the gold trophy, then hand it to the left arm.",
+    "Secure the microphone with rounded mesh head, route it at least 0.10m from the gold trophy, then hand it over.",
+    "With the right arm, grasp the microphone with rounded mesh head, then hand the microphone with rounded mesh head to the left arm, avoiding the gold award cup with two handles.",
+    "Using the right arm, grab the microphone with black tip and white body, keep 0.10m from the trophy with dangling ribbons, then give the microphone with black tip and white body to the left arm.",
+    "Use the right arm to lift the compact size microphone, then give the compact size microphone to the left arm, avoiding the gold trophy on square black base by 0.10m.",
+    "Lift the microphone with black tip and white body with the right arm, give the microphone with black tip and white body to the left arm, keep clear of the gold trophy 0.10m.",
+    "Grab the mesh-patterned microphone head, carry it around the gold trophy on square black base with 0.10m clearance, then hand over.",
+    "Let the right arm grasp the microphone for voice recording, move it 0.10m from the shiny trophy with top knob, then the left arm receives.",
+    "Using the right arm, take the smooth plastic microphone handle and hand to the left arm, keeping 0.10m from the black bottom trophy with smooth finish.",
+    "Have the right arm take the microphone with cylindrical handle, then the left arm takes the microphone with cylindrical handle, keep 0.10m from the gold trophy.",
+    "Have the right arm grasp the microphone with black tip and white body, avoid the decorative trophy with curved handles by 0.10m, and transfer the microphone with black tip and white body to the left arm.",
+    "Get the handheld microphone with the right arm, shift the handheld microphone to the left arm, maintaining 0.10m from the medium trophy with gold and black colors.",
+    "Move the black and white microphone from the right arm to the left arm while keeping clear of the trophy cup with curved sides.",
+    "Pick up the black and white microphone using the right arm, transfer to the left arm, keep 0.10m from the cup-shaped trophy with handles.",
+    "Take the microphone with rounded mesh head with the right arm, hand over to the left arm, keep the microphone with rounded mesh head 0.10m away from the gold trophy on square black base.",
+    "Pick up the mesh-patterned microphone head, move it staying 0.10m from the medium-sized golden trophy, then complete the handoff.",
+    "Pick up the white microphone handle black accents with the right arm, transfer to the left arm, stay away from the gold award cup with two handles.",
+    "Take the black and white microphone using the right arm, keep away from the trophy cup with curved sides, and pass to the left arm.",
+    "With the right arm, take the metal head microphone, keep distance from the black bottom trophy with smooth finish, and give the metal head microphone to the left arm.",
+    "Lift the handheld microphone, keep it 0.10m away from the medium trophy with gold and black colors, then pass it across.",
+    "Take the microphone for voice recording with the right arm, route it away from the medium-sized golden trophy, then hand it to the left arm.",
+    "Secure the mesh-patterned microphone head, route it at least 0.10m from the decorative trophy with curved handles, then hand it over.",
+    "With the right arm, grasp the metal head microphone, then hand the metal head microphone to the left arm, avoiding the medium trophy with gold and black colors.",
+    "Using the right arm, grab the microphone with rounded mesh head, keep 0.10m from the gold trophy on square black base, then give the microphone with rounded mesh head to the left arm."
+  ],
+  "unseen": [
+    "Pick up the black and white plastic microphone, avoid the trophy with red and blue ribbons by 0.10m, pass the black and white plastic microphone from the right arm to the left arm.",
+    "Use the right arm to grab the lightweight handheld microphone, pass to the left arm, keep the lightweight handheld microphone 0.10m from the shiny trophy cup.",
+    "Grab the lightweight handheld microphone with the right arm, keep 0.10m from the smooth golden trophy, hand to the left arm.",
+    "Grab the lightweight handheld microphone with the right arm, hand it to the left arm, avoiding the smooth golden trophy by 0.10m.",
+    "With the right arm, grab the lightweight handheld microphone, pass to the left arm, keeping the lightweight handheld microphone 0.10m from the smooth golden trophy.",
+    "Use the right arm to grab the black and white plastic microphone, then pass it to the left arm, avoiding the smooth golden trophy.",
+    "Pick up the microphone used for audio input, avoid the shiny trophy cup by 0.10m, pass the microphone used for audio input from the right arm to the left arm.",
+    "Use the right arm to grab the lightweight handheld microphone, pass to the left arm, keep the lightweight handheld microphone 0.10m from the smooth golden trophy.",
+    "Grab the black and white plastic microphone with the right arm, keep 0.10m from the smooth golden trophy, hand to the left arm.",
+    "Grab the lightweight handheld microphone with the right arm, hand it to the left arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "With the right arm, grab the lightweight handheld microphone, pass to the left arm, keeping the lightweight handheld microphone 0.10m from the smooth golden trophy.",
+    "Use the right arm to grab the lightweight handheld microphone, then pass it to the left arm, avoiding the shiny trophy cup.",
+    "Pick up the lightweight handheld microphone, avoid the shiny trophy cup by 0.10m, pass the lightweight handheld microphone from the right arm to the left arm.",
+    "Use the right arm to grab the lightweight handheld microphone, pass to the left arm, keep the lightweight handheld microphone 0.10m from the shiny trophy cup.",
+    "Grab the black and white plastic microphone with the right arm, keep 0.10m from the smooth golden trophy, hand to the left arm.",
+    "Grab the lightweight handheld microphone with the right arm, hand it to the left arm, avoiding the shiny trophy cup by 0.10m.",
+    "With the right arm, grab the lightweight handheld microphone, pass to the left arm, keeping the lightweight handheld microphone 0.10m from the shiny trophy cup.",
+    "Use the right arm to grab the microphone used for audio input, then pass it to the left arm, avoiding the shiny trophy cup.",
+    "Pick up the microphone used for audio input, avoid the smooth golden trophy by 0.10m, pass the microphone used for audio input from the right arm to the left arm.",
+    "Use the right arm to grab the microphone used for audio input, pass to the left arm, keep the microphone used for audio input 0.10m from the smooth golden trophy.",
+    "Grab the microphone used for audio input with the right arm, keep 0.10m from the shiny trophy cup, hand to the left arm.",
+    "Grab the lightweight handheld microphone with the right arm, hand it to the left arm, avoiding the smooth golden trophy by 0.10m.",
+    "With the right arm, grab the lightweight handheld microphone, pass to the left arm, keeping the lightweight handheld microphone 0.10m from the trophy with red and blue ribbons.",
+    "Use the right arm to grab the black and white plastic microphone, then pass it to the left arm, avoiding the smooth golden trophy.",
+    "Pick up the lightweight handheld microphone, avoid the trophy with red and blue ribbons by 0.10m, pass the lightweight handheld microphone from the right arm to the left arm.",
+    "Use the right arm to grab the microphone used for audio input, pass to the left arm, keep the microphone used for audio input 0.10m from the smooth golden trophy.",
+    "Grab the lightweight handheld microphone with the right arm, keep 0.10m from the shiny trophy cup, hand to the left arm.",
+    "Grab the lightweight handheld microphone with the right arm, hand it to the left arm, avoiding the smooth golden trophy by 0.10m.",
+    "With the right arm, grab the black and white plastic microphone, pass to the left arm, keeping the black and white plastic microphone 0.10m from the trophy with red and blue ribbons.",
+    "Use the right arm to grab the microphone used for audio input, then pass it to the left arm, avoiding the trophy with red and blue ribbons.",
+    "Pick up the lightweight handheld microphone, avoid the smooth golden trophy by 0.10m, pass the lightweight handheld microphone from the right arm to the left arm.",
+    "Use the right arm to grab the black and white plastic microphone, pass to the left arm, keep the black and white plastic microphone 0.10m from the smooth golden trophy.",
+    "Grab the black and white plastic microphone with the right arm, keep 0.10m from the smooth golden trophy, hand to the left arm.",
+    "Grab the microphone used for audio input with the right arm, hand it to the left arm, avoiding the shiny trophy cup by 0.10m.",
+    "With the right arm, grab the lightweight handheld microphone, pass to the left arm, keeping the lightweight handheld microphone 0.10m from the shiny trophy cup.",
+    "Use the right arm to grab the lightweight handheld microphone, then pass it to the left arm, avoiding the trophy with red and blue ribbons.",
+    "Pick up the black and white plastic microphone, avoid the smooth golden trophy by 0.10m, pass the black and white plastic microphone from the right arm to the left arm.",
+    "Use the right arm to grab the black and white plastic microphone, pass to the left arm, keep the black and white plastic microphone 0.10m from the smooth golden trophy.",
+    "Grab the microphone used for audio input with the right arm, keep 0.10m from the shiny trophy cup, hand to the left arm.",
+    "Grab the microphone used for audio input with the right arm, hand it to the left arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "With the right arm, grab the black and white plastic microphone, pass to the left arm, keeping the black and white plastic microphone 0.10m from the smooth golden trophy.",
+    "Use the right arm to grab the lightweight handheld microphone, then pass it to the left arm, avoiding the smooth golden trophy.",
+    "Pick up the lightweight handheld microphone, avoid the trophy with red and blue ribbons by 0.10m, pass the lightweight handheld microphone from the right arm to the left arm.",
+    "Use the right arm to grab the microphone used for audio input, pass to the left arm, keep the microphone used for audio input 0.10m from the trophy with red and blue ribbons.",
+    "Grab the microphone used for audio input with the right arm, keep 0.10m from the shiny trophy cup, hand to the left arm.",
+    "Grab the microphone used for audio input with the right arm, hand it to the left arm, avoiding the shiny trophy cup by 0.10m.",
+    "With the right arm, grab the lightweight handheld microphone, pass to the left arm, keeping the lightweight handheld microphone 0.10m from the trophy with red and blue ribbons.",
+    "Use the right arm to grab the microphone used for audio input, then pass it to the left arm, avoiding the smooth golden trophy.",
+    "Pick up the lightweight handheld microphone, avoid the shiny trophy cup by 0.10m, pass the lightweight handheld microphone from the right arm to the left arm.",
+    "Use the right arm to grab the microphone used for audio input, pass to the left arm, keep the microphone used for audio input 0.10m from the shiny trophy cup.",
+    "Grab the lightweight handheld microphone with the right arm, keep 0.10m from the shiny trophy cup, hand to the left arm.",
+    "Grab the lightweight handheld microphone with the right arm, hand it to the left arm, avoiding the smooth golden trophy by 0.10m.",
+    "With the right arm, grab the lightweight handheld microphone, pass to the left arm, keeping the lightweight handheld microphone 0.10m from the shiny trophy cup.",
+    "Use the right arm to grab the microphone used for audio input, then pass it to the left arm, avoiding the shiny trophy cup.",
+    "Pick up the lightweight handheld microphone, avoid the smooth golden trophy by 0.10m, pass the lightweight handheld microphone from the right arm to the left arm.",
+    "Use the right arm to grab the lightweight handheld microphone, pass to the left arm, keep the lightweight handheld microphone 0.10m from the shiny trophy cup.",
+    "Grab the lightweight handheld microphone with the right arm, keep 0.10m from the smooth golden trophy, hand to the left arm.",
+    "Grab the microphone used for audio input with the right arm, hand it to the left arm, avoiding the smooth golden trophy by 0.10m.",
+    "With the right arm, grab the microphone used for audio input, pass to the left arm, keeping the microphone used for audio input 0.10m from the smooth golden trophy.",
+    "Use the right arm to grab the black and white plastic microphone, then pass it to the left arm, avoiding the shiny trophy cup.",
+    "Pick up the microphone used for audio input, avoid the trophy with red and blue ribbons by 0.10m, pass the microphone used for audio input from the right arm to the left arm.",
+    "Use the right arm to grab the microphone used for audio input, pass to the left arm, keep the microphone used for audio input 0.10m from the trophy with red and blue ribbons.",
+    "Grab the microphone used for audio input with the right arm, keep 0.10m from the trophy with red and blue ribbons, hand to the left arm.",
+    "Grab the black and white plastic microphone with the right arm, hand it to the left arm, avoiding the smooth golden trophy by 0.10m.",
+    "With the right arm, grab the microphone used for audio input, pass to the left arm, keeping the microphone used for audio input 0.10m from the shiny trophy cup.",
+    "Use the right arm to grab the microphone used for audio input, then pass it to the left arm, avoiding the trophy with red and blue ribbons.",
+    "Pick up the microphone used for audio input, avoid the trophy with red and blue ribbons by 0.10m, pass the microphone used for audio input from the right arm to the left arm.",
+    "Use the right arm to grab the microphone used for audio input, pass to the left arm, keep the microphone used for audio input 0.10m from the shiny trophy cup.",
+    "Grab the black and white plastic microphone with the right arm, keep 0.10m from the smooth golden trophy, hand to the left arm.",
+    "Grab the black and white plastic microphone with the right arm, hand it to the left arm, avoiding the shiny trophy cup by 0.10m.",
+    "With the right arm, grab the microphone used for audio input, pass to the left arm, keeping the microphone used for audio input 0.10m from the smooth golden trophy.",
+    "Use the right arm to grab the black and white plastic microphone, then pass it to the left arm, avoiding the smooth golden trophy.",
+    "Pick up the black and white plastic microphone, avoid the trophy with red and blue ribbons by 0.10m, pass the black and white plastic microphone from the right arm to the left arm.",
+    "Use the right arm to grab the microphone used for audio input, pass to the left arm, keep the microphone used for audio input 0.10m from the smooth golden trophy.",
+    "Grab the microphone used for audio input with the right arm, keep 0.10m from the trophy with red and blue ribbons, hand to the left arm.",
+    "Grab the microphone used for audio input with the right arm, hand it to the left arm, avoiding the smooth golden trophy by 0.10m.",
+    "With the right arm, grab the black and white plastic microphone, pass to the left arm, keeping the black and white plastic microphone 0.10m from the shiny trophy cup.",
+    "Use the right arm to grab the black and white plastic microphone, then pass it to the left arm, avoiding the smooth golden trophy.",
+    "Pick up the black and white plastic microphone, avoid the shiny trophy cup by 0.10m, pass the black and white plastic microphone from the right arm to the left arm.",
+    "Use the right arm to grab the lightweight handheld microphone, pass to the left arm, keep the lightweight handheld microphone 0.10m from the smooth golden trophy.",
+    "Grab the microphone used for audio input with the right arm, keep 0.10m from the trophy with red and blue ribbons, hand to the left arm.",
+    "Grab the black and white plastic microphone with the right arm, hand it to the left arm, avoiding the shiny trophy cup by 0.10m.",
+    "With the right arm, grab the microphone used for audio input, pass to the left arm, keeping the microphone used for audio input 0.10m from the shiny trophy cup.",
+    "Use the right arm to grab the lightweight handheld microphone, then pass it to the left arm, avoiding the smooth golden trophy.",
+    "Pick up the black and white plastic microphone, avoid the smooth golden trophy by 0.10m, pass the black and white plastic microphone from the right arm to the left arm.",
+    "Use the right arm to grab the black and white plastic microphone, pass to the left arm, keep the black and white plastic microphone 0.10m from the smooth golden trophy.",
+    "Grab the lightweight handheld microphone with the right arm, keep 0.10m from the shiny trophy cup, hand to the left arm.",
+    "Grab the microphone used for audio input with the right arm, hand it to the left arm, avoiding the smooth golden trophy by 0.10m.",
+    "With the right arm, grab the lightweight handheld microphone, pass to the left arm, keeping the lightweight handheld microphone 0.10m from the trophy with red and blue ribbons.",
+    "Use the right arm to grab the lightweight handheld microphone, then pass it to the left arm, avoiding the shiny trophy cup.",
+    "Pick up the black and white plastic microphone, avoid the shiny trophy cup by 0.10m, pass the black and white plastic microphone from the right arm to the left arm.",
+    "Use the right arm to grab the microphone used for audio input, pass to the left arm, keep the microphone used for audio input 0.10m from the shiny trophy cup.",
+    "Grab the lightweight handheld microphone with the right arm, keep 0.10m from the shiny trophy cup, hand to the left arm.",
+    "Grab the lightweight handheld microphone with the right arm, hand it to the left arm, avoiding the smooth golden trophy by 0.10m.",
+    "With the right arm, grab the microphone used for audio input, pass to the left arm, keeping the microphone used for audio input 0.10m from the trophy with red and blue ribbons.",
+    "Use the right arm to grab the black and white plastic microphone, then pass it to the left arm, avoiding the smooth golden trophy.",
+    "Pick up the lightweight handheld microphone, avoid the smooth golden trophy by 0.10m, pass the lightweight handheld microphone from the right arm to the left arm.",
+    "Use the right arm to grab the lightweight handheld microphone, pass to the left arm, keep the lightweight handheld microphone 0.10m from the trophy with red and blue ribbons.",
+    "Grab the black and white plastic microphone with the right arm, keep 0.10m from the shiny trophy cup, hand to the left arm.",
+    "Grab the microphone used for audio input with the right arm, hand it to the left arm, avoiding the shiny trophy cup by 0.10m."
+  ]
+}
\ No newline at end of file
diff --git a/handover_mic_wp1/handover_mic_wp1/instructions/episode26.json b/handover_mic_wp1/handover_mic_wp1/instructions/episode26.json
new file mode 100644
index 0000000000000000000000000000000000000000..79dbf2e279fdb940b1c38f50f7ad02c95077a066
--- /dev/null
+++ b/handover_mic_wp1/handover_mic_wp1/instructions/episode26.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With the right arm, grasp the microphone with black tip and white body, then hand the microphone with black tip and white body to the left arm, avoiding the gold trophy on square black base.",
+    "Get the metal head microphone with the right arm, shift the metal head microphone to the left arm, maintaining 0.10m from the gold award cup with two handles.",
+    "Move the microphone with black tip and white body from the right arm to the left arm while keeping clear of the gold award cup with two handles.",
+    "Pick up the microphone with cylindrical handle using the right arm, transfer to the left arm, keep 0.10m from the gold award cup with two handles.",
+    "Let the right arm grasp the white microphone handle black accents, move it 0.10m from the cup-shaped trophy with handles, then the left arm receives.",
+    "Using the right arm, take the microphone with cylindrical handle and hand to the left arm, keeping 0.10m from the medium-sized golden trophy.",
+    "Take the microphone with cylindrical handle with the right arm, route it away from the trophy with dangling ribbons, then hand it to the left arm.",
+    "Pick up the microphone for voice recording, move it staying 0.10m from the gold trophy on square black base, then complete the handoff.",
+    "Take the compact size microphone with the right arm, hand over to the left arm, keep the compact size microphone 0.10m away from the golden award trophy with black base.",
+    "Lift the handheld microphone, keep it 0.10m away from the cup-shaped trophy with handles, then pass it across.",
+    "Grab the mesh-patterned microphone head, carry it around the golden award trophy with black base with 0.10m clearance, then hand over.",
+    "Take the microphone with black tip and white body using the right arm, keep away from the black bottom trophy with smooth finish, and pass to the left arm.",
+    "With the right arm, take the microphone with black tip and white body, keep distance from the decorative trophy with curved handles, and give the microphone with black tip and white body to the left arm.",
+    "Using the right arm, grab the mesh-patterned microphone head, keep 0.10m from the trophy cup with curved sides, then give the mesh-patterned microphone head to the left arm.",
+    "Pick up the mesh-patterned microphone head with the right arm, transfer to the left arm, stay away from the medium trophy with gold and black colors.",
+    "Have the right arm grasp the mesh-patterned microphone head, avoid the gold trophy on square black base by 0.10m, and transfer the mesh-patterned microphone head to the left arm.",
+    "Use the right arm to lift the microphone with rounded mesh head, then give the microphone with rounded mesh head to the left arm, avoiding the gold trophy by 0.10m.",
+    "Have the right arm take the smooth plastic microphone handle, then the left arm takes the smooth plastic microphone handle, keep 0.10m from the gold trophy.",
+    "Secure the microphone with black tip and white body, route it at least 0.10m from the gold trophy, then hand it over.",
+    "Lift the black and white microphone with the right arm, give the black and white microphone to the left arm, keep clear of the medium trophy with gold and black colors 0.10m.",
+    "With the right arm, grasp the microphone with black tip and white body, then hand the microphone with black tip and white body to the left arm, avoiding the gold trophy on square black base.",
+    "Get the microphone with cylindrical handle with the right arm, shift the microphone with cylindrical handle to the left arm, maintaining 0.10m from the decorative trophy with curved handles.",
+    "Move the mesh-patterned microphone head from the right arm to the left arm while keeping clear of the trophy with dangling ribbons.",
+    "Pick up the microphone with cylindrical handle using the right arm, transfer to the left arm, keep 0.10m from the cup-shaped trophy with handles.",
+    "Let the right arm grasp the handheld microphone, move it 0.10m from the medium-sized golden trophy, then the left arm receives.",
+    "Using the right arm, take the microphone with cylindrical handle and hand to the left arm, keeping 0.10m from the medium-sized golden trophy.",
+    "Take the metal head microphone with the right arm, route it away from the golden award trophy with black base, then hand it to the left arm.",
+    "Pick up the microphone with black tip and white body, move it staying 0.10m from the trophy cup with curved sides, then complete the handoff.",
+    "Take the compact size microphone with the right arm, hand over to the left arm, keep the compact size microphone 0.10m away from the trophy cup with curved sides.",
+    "Lift the microphone with textured metal head, keep it 0.10m away from the trophy with dangling ribbons, then pass it across.",
+    "Grab the microphone with rounded mesh head, carry it around the medium trophy with gold and black colors with 0.10m clearance, then hand over.",
+    "Take the mesh-patterned microphone head using the right arm, keep away from the gold trophy, and pass to the left arm.",
+    "With the right arm, take the handheld microphone, keep distance from the decorative trophy with curved handles, and give the handheld microphone to the left arm.",
+    "Using the right arm, grab the white microphone handle black accents, keep 0.10m from the decorative trophy with curved handles, then give the white microphone handle black accents to the left arm.",
+    "Pick up the black and white microphone with the right arm, transfer to the left arm, stay away from the golden award trophy with black base.",
+    "Have the right arm grasp the white microphone handle black accents, avoid the gold award cup with two handles by 0.10m, and transfer the white microphone handle black accents to the left arm.",
+    "Use the right arm to lift the black and white microphone, then give the black and white microphone to the left arm, avoiding the golden award trophy with black base by 0.10m.",
+    "Have the right arm take the mesh-patterned microphone head, then the left arm takes the mesh-patterned microphone head, keep 0.10m from the gold award cup with two handles.",
+    "Secure the black and white microphone, route it at least 0.10m from the medium-sized golden trophy, then hand it over.",
+    "Lift the handheld microphone with the right arm, give the handheld microphone to the left arm, keep clear of the decorative trophy with curved handles 0.10m.",
+    "With the right arm, grasp the black and white microphone, then hand the black and white microphone to the left arm, avoiding the medium trophy with gold and black colors.",
+    "Get the smooth plastic microphone handle with the right arm, shift the smooth plastic microphone handle to the left arm, maintaining 0.10m from the medium trophy with gold and black colors.",
+    "Move the microphone with cylindrical handle from the right arm to the left arm while keeping clear of the black bottom trophy with smooth finish.",
+    "Pick up the microphone with cylindrical handle using the right arm, transfer to the left arm, keep 0.10m from the gold trophy.",
+    "Let the right arm grasp the metal head microphone, move it 0.10m from the trophy with dangling ribbons, then the left arm receives.",
+    "Using the right arm, take the black and white microphone and hand to the left arm, keeping 0.10m from the cup-shaped trophy with handles.",
+    "Take the handheld microphone with the right arm, route it away from the trophy cup with curved sides, then hand it to the left arm.",
+    "Pick up the microphone with cylindrical handle, move it staying 0.10m from the shiny trophy with top knob, then complete the handoff.",
+    "Take the microphone with cylindrical handle with the right arm, hand over to the left arm, keep the microphone with cylindrical handle 0.10m away from the black bottom trophy with smooth finish.",
+    "Lift the microphone with black tip and white body, keep it 0.10m away from the medium-sized golden trophy, then pass it across.",
+    "Grab the compact size microphone, carry it around the gold trophy with 0.10m clearance, then hand over.",
+    "Take the black and white microphone using the right arm, keep away from the shiny trophy with top knob, and pass to the left arm.",
+    "With the right arm, take the metal head microphone, keep distance from the shiny trophy with top knob, and give the metal head microphone to the left arm.",
+    "Using the right arm, grab the microphone with black tip and white body, keep 0.10m from the gold trophy on square black base, then give the microphone with black tip and white body to the left arm.",
+    "Pick up the compact size microphone with the right arm, transfer to the left arm, stay away from the medium trophy with gold and black colors.",
+    "Have the right arm grasp the microphone with rounded mesh head, avoid the gold award cup with two handles by 0.10m, and transfer the microphone with rounded mesh head to the left arm.",
+    "Use the right arm to lift the metal head microphone, then give the metal head microphone to the left arm, avoiding the golden award trophy with black base by 0.10m.",
+    "Have the right arm take the compact size microphone, then the left arm takes the compact size microphone, keep 0.10m from the decorative trophy with curved handles.",
+    "Secure the microphone with textured metal head, route it at least 0.10m from the golden award trophy with black base, then hand it over.",
+    "Lift the microphone with black tip and white body with the right arm, give the microphone with black tip and white body to the left arm, keep clear of the golden award trophy with black base 0.10m.",
+    "With the right arm, grasp the white microphone handle black accents, then hand the white microphone handle black accents to the left arm, avoiding the medium trophy with gold and black colors.",
+    "Get the microphone for voice recording with the right arm, shift the microphone for voice recording to the left arm, maintaining 0.10m from the black bottom trophy with smooth finish.",
+    "Move the microphone with cylindrical handle from the right arm to the left arm while keeping clear of the trophy cup with curved sides.",
+    "Pick up the microphone with rounded mesh head using the right arm, transfer to the left arm, keep 0.10m from the black bottom trophy with smooth finish.",
+    "Let the right arm grasp the mesh-patterned microphone head, move it 0.10m from the decorative trophy with curved handles, then the left arm receives.",
+    "Using the right arm, take the metal head microphone and hand to the left arm, keeping 0.10m from the cup-shaped trophy with handles.",
+    "Take the microphone with textured metal head with the right arm, route it away from the medium-sized golden trophy, then hand it to the left arm.",
+    "Pick up the microphone with rounded mesh head, move it staying 0.10m from the gold trophy on square black base, then complete the handoff.",
+    "Take the compact size microphone with the right arm, hand over to the left arm, keep the compact size microphone 0.10m away from the cup-shaped trophy with handles.",
+    "Lift the handheld microphone, keep it 0.10m away from the medium-sized golden trophy, then pass it across.",
+    "Grab the microphone with cylindrical handle, carry it around the medium-sized golden trophy with 0.10m clearance, then hand over.",
+    "Take the microphone with cylindrical handle using the right arm, keep away from the black bottom trophy with smooth finish, and pass to the left arm.",
+    "With the right arm, take the black and white microphone, keep distance from the medium trophy with gold and black colors, and give the black and white microphone to the left arm.",
+    "Using the right arm, grab the handheld microphone, keep 0.10m from the medium trophy with gold and black colors, then give the handheld microphone to the left arm.",
+    "Pick up the microphone with rounded mesh head with the right arm, transfer to the left arm, stay away from the cup-shaped trophy with handles.",
+    "Have the right arm grasp the microphone with textured metal head, avoid the trophy cup with curved sides by 0.10m, and transfer the microphone with textured metal head to the left arm.",
+    "Use the right arm to lift the microphone with black tip and white body, then give the microphone with black tip and white body to the left arm, avoiding the gold trophy by 0.10m.",
+    "Have the right arm take the white microphone handle black accents, then the left arm takes the white microphone handle black accents, keep 0.10m from the medium-sized golden trophy.",
+    "Secure the compact size microphone, route it at least 0.10m from the gold award cup with two handles, then hand it over.",
+    "Lift the compact size microphone with the right arm, give the compact size microphone to the left arm, keep clear of the black bottom trophy with smooth finish 0.10m.",
+    "With the right arm, grasp the white microphone handle black accents, then hand the white microphone handle black accents to the left arm, avoiding the shiny trophy with top knob.",
+    "Get the microphone with rounded mesh head with the right arm, shift the microphone with rounded mesh head to the left arm, maintaining 0.10m from the shiny trophy with top knob.",
+    "Move the metal head microphone from the right arm to the left arm while keeping clear of the golden award trophy with black base.",
+    "Pick up the microphone with textured metal head using the right arm, transfer to the left arm, keep 0.10m from the medium trophy with gold and black colors.",
+    "Let the right arm grasp the compact size microphone, move it 0.10m from the trophy with dangling ribbons, then the left arm receives.",
+    "Using the right arm, take the white microphone handle black accents and hand to the left arm, keeping 0.10m from the decorative trophy with curved handles.",
+    "Take the black and white microphone with the right arm, route it away from the medium-sized golden trophy, then hand it to the left arm.",
+    "Pick up the microphone with black tip and white body, move it staying 0.10m from the trophy cup with curved sides, then complete the handoff.",
+    "Take the handheld microphone with the right arm, hand over to the left arm, keep the handheld microphone 0.10m away from the gold trophy.",
+    "Lift the microphone with cylindrical handle, keep it 0.10m away from the golden award trophy with black base, then pass it across.",
+    "Grab the mesh-patterned microphone head, carry it around the decorative trophy with curved handles with 0.10m clearance, then hand over.",
+    "Take the microphone with black tip and white body using the right arm, keep away from the gold award cup with two handles, and pass to the left arm.",
+    "With the right arm, take the black and white microphone, keep distance from the cup-shaped trophy with handles, and give the black and white microphone to the left arm.",
+    "Using the right arm, grab the microphone for voice recording, keep 0.10m from the decorative trophy with curved handles, then give the microphone for voice recording to the left arm.",
+    "Pick up the microphone with textured metal head with the right arm, transfer to the left arm, stay away from the black bottom trophy with smooth finish.",
+    "Have the right arm grasp the smooth plastic microphone handle, avoid the gold trophy on square black base by 0.10m, and transfer the smooth plastic microphone handle to the left arm.",
+    "Use the right arm to lift the white microphone handle black accents, then give the white microphone handle black accents to the left arm, avoiding the trophy with dangling ribbons by 0.10m.",
+    "Have the right arm take the white microphone handle black accents, then the left arm takes the white microphone handle black accents, keep 0.10m from the medium-sized golden trophy.",
+    "Secure the mesh-patterned microphone head, route it at least 0.10m from the trophy with dangling ribbons, then hand it over.",
+    "Lift the handheld microphone with the right arm, give the handheld microphone to the left arm, keep clear of the gold trophy 0.10m."
+  ],
+  "unseen": [
+    "Pick up the black and white plastic microphone, avoid the shiny trophy cup by 0.10m, pass the black and white plastic microphone from the right arm to the left arm.",
+    "With the right arm, grab the black and white plastic microphone, pass to the left arm, keeping the black and white plastic microphone 0.10m from the trophy with red and blue ribbons.",
+    "Grab the microphone used for audio input with the right arm, hand it to the left arm, avoiding the smooth golden trophy by 0.10m.",
+    "Use the right arm to grab the black and white plastic microphone, then pass it to the left arm, avoiding the smooth golden trophy.",
+    "Use the right arm to grab the microphone used for audio input, pass to the left arm, keep the microphone used for audio input 0.10m from the trophy with red and blue ribbons.",
+    "Grab the microphone used for audio input with the right arm, keep 0.10m from the trophy with red and blue ribbons, hand to the left arm.",
+    "Pick up the lightweight handheld microphone, avoid the shiny trophy cup by 0.10m, pass the lightweight handheld microphone from the right arm to the left arm.",
+    "With the right arm, grab the microphone used for audio input, pass to the left arm, keeping the microphone used for audio input 0.10m from the shiny trophy cup.",
+    "Grab the lightweight handheld microphone with the right arm, hand it to the left arm, avoiding the smooth golden trophy by 0.10m.",
+    "Use the right arm to grab the lightweight handheld microphone, then pass it to the left arm, avoiding the trophy with red and blue ribbons.",
+    "Use the right arm to grab the lightweight handheld microphone, pass to the left arm, keep the lightweight handheld microphone 0.10m from the shiny trophy cup.",
+    "Grab the microphone used for audio input with the right arm, keep 0.10m from the trophy with red and blue ribbons, hand to the left arm.",
+    "Pick up the lightweight handheld microphone, avoid the shiny trophy cup by 0.10m, pass the lightweight handheld microphone from the right arm to the left arm.",
+    "With the right arm, grab the black and white plastic microphone, pass to the left arm, keeping the black and white plastic microphone 0.10m from the shiny trophy cup.",
+    "Grab the black and white plastic microphone with the right arm, hand it to the left arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "Use the right arm to grab the microphone used for audio input, then pass it to the left arm, avoiding the smooth golden trophy.",
+    "Use the right arm to grab the black and white plastic microphone, pass to the left arm, keep the black and white plastic microphone 0.10m from the shiny trophy cup.",
+    "Grab the black and white plastic microphone with the right arm, keep 0.10m from the trophy with red and blue ribbons, hand to the left arm.",
+    "Pick up the microphone used for audio input, avoid the trophy with red and blue ribbons by 0.10m, pass the microphone used for audio input from the right arm to the left arm.",
+    "With the right arm, grab the black and white plastic microphone, pass to the left arm, keeping the black and white plastic microphone 0.10m from the trophy with red and blue ribbons.",
+    "Grab the microphone used for audio input with the right arm, hand it to the left arm, avoiding the smooth golden trophy by 0.10m.",
+    "Use the right arm to grab the lightweight handheld microphone, then pass it to the left arm, avoiding the shiny trophy cup.",
+    "Use the right arm to grab the microphone used for audio input, pass to the left arm, keep the microphone used for audio input 0.10m from the trophy with red and blue ribbons.",
+    "Grab the black and white plastic microphone with the right arm, keep 0.10m from the trophy with red and blue ribbons, hand to the left arm.",
+    "Pick up the black and white plastic microphone, avoid the smooth golden trophy by 0.10m, pass the black and white plastic microphone from the right arm to the left arm.",
+    "With the right arm, grab the lightweight handheld microphone, pass to the left arm, keeping the lightweight handheld microphone 0.10m from the trophy with red and blue ribbons.",
+    "Grab the lightweight handheld microphone with the right arm, hand it to the left arm, avoiding the shiny trophy cup by 0.10m.",
+    "Use the right arm to grab the black and white plastic microphone, then pass it to the left arm, avoiding the shiny trophy cup.",
+    "Use the right arm to grab the microphone used for audio input, pass to the left arm, keep the microphone used for audio input 0.10m from the trophy with red and blue ribbons.",
+    "Grab the black and white plastic microphone with the right arm, keep 0.10m from the shiny trophy cup, hand to the left arm.",
+    "Pick up the microphone used for audio input, avoid the smooth golden trophy by 0.10m, pass the microphone used for audio input from the right arm to the left arm.",
+    "With the right arm, grab the black and white plastic microphone, pass to the left arm, keeping the black and white plastic microphone 0.10m from the trophy with red and blue ribbons.",
+    "Grab the lightweight handheld microphone with the right arm, hand it to the left arm, avoiding the shiny trophy cup by 0.10m.",
+    "Use the right arm to grab the lightweight handheld microphone, then pass it to the left arm, avoiding the trophy with red and blue ribbons.",
+    "Use the right arm to grab the microphone used for audio input, pass to the left arm, keep the microphone used for audio input 0.10m from the smooth golden trophy.",
+    "Grab the microphone used for audio input with the right arm, keep 0.10m from the shiny trophy cup, hand to the left arm.",
+    "Pick up the lightweight handheld microphone, avoid the trophy with red and blue ribbons by 0.10m, pass the lightweight handheld microphone from the right arm to the left arm.",
+    "With the right arm, grab the lightweight handheld microphone, pass to the left arm, keeping the lightweight handheld microphone 0.10m from the trophy with red and blue ribbons.",
+    "Grab the lightweight handheld microphone with the right arm, hand it to the left arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "Use the right arm to grab the microphone used for audio input, then pass it to the left arm, avoiding the smooth golden trophy.",
+    "Use the right arm to grab the microphone used for audio input, pass to the left arm, keep the microphone used for audio input 0.10m from the trophy with red and blue ribbons.",
+    "Grab the microphone used for audio input with the right arm, keep 0.10m from the smooth golden trophy, hand to the left arm.",
+    "Pick up the microphone used for audio input, avoid the shiny trophy cup by 0.10m, pass the microphone used for audio input from the right arm to the left arm.",
+    "With the right arm, grab the black and white plastic microphone, pass to the left arm, keeping the black and white plastic microphone 0.10m from the trophy with red and blue ribbons.",
+    "Grab the black and white plastic microphone with the right arm, hand it to the left arm, avoiding the smooth golden trophy by 0.10m.",
+    "Use the right arm to grab the black and white plastic microphone, then pass it to the left arm, avoiding the trophy with red and blue ribbons.",
+    "Use the right arm to grab the lightweight handheld microphone, pass to the left arm, keep the lightweight handheld microphone 0.10m from the smooth golden trophy.",
+    "Grab the lightweight handheld microphone with the right arm, keep 0.10m from the trophy with red and blue ribbons, hand to the left arm.",
+    "Pick up the black and white plastic microphone, avoid the trophy with red and blue ribbons by 0.10m, pass the black and white plastic microphone from the right arm to the left arm.",
+    "With the right arm, grab the black and white plastic microphone, pass to the left arm, keeping the black and white plastic microphone 0.10m from the smooth golden trophy.",
+    "Grab the black and white plastic microphone with the right arm, hand it to the left arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "Use the right arm to grab the black and white plastic microphone, then pass it to the left arm, avoiding the smooth golden trophy.",
+    "Use the right arm to grab the lightweight handheld microphone, pass to the left arm, keep the lightweight handheld microphone 0.10m from the smooth golden trophy.",
+    "Grab the black and white plastic microphone with the right arm, keep 0.10m from the trophy with red and blue ribbons, hand to the left arm.",
+    "Pick up the black and white plastic microphone, avoid the trophy with red and blue ribbons by 0.10m, pass the black and white plastic microphone from the right arm to the left arm.",
+    "With the right arm, grab the black and white plastic microphone, pass to the left arm, keeping the black and white plastic microphone 0.10m from the trophy with red and blue ribbons.",
+    "Grab the lightweight handheld microphone with the right arm, hand it to the left arm, avoiding the shiny trophy cup by 0.10m.",
+    "Use the right arm to grab the lightweight handheld microphone, then pass it to the left arm, avoiding the smooth golden trophy.",
+    "Use the right arm to grab the black and white plastic microphone, pass to the left arm, keep the black and white plastic microphone 0.10m from the smooth golden trophy.",
+    "Grab the lightweight handheld microphone with the right arm, keep 0.10m from the smooth golden trophy, hand to the left arm.",
+    "Pick up the microphone used for audio input, avoid the smooth golden trophy by 0.10m, pass the microphone used for audio input from the right arm to the left arm.",
+    "With the right arm, grab the black and white plastic microphone, pass to the left arm, keeping the black and white plastic microphone 0.10m from the smooth golden trophy.",
+    "Grab the lightweight handheld microphone with the right arm, hand it to the left arm, avoiding the shiny trophy cup by 0.10m.",
+    "Use the right arm to grab the black and white plastic microphone, then pass it to the left arm, avoiding the smooth golden trophy.",
+    "Use the right arm to grab the lightweight handheld microphone, pass to the left arm, keep the lightweight handheld microphone 0.10m from the smooth golden trophy.",
+    "Grab the black and white plastic microphone with the right arm, keep 0.10m from the smooth golden trophy, hand to the left arm.",
+    "Pick up the lightweight handheld microphone, avoid the trophy with red and blue ribbons by 0.10m, pass the lightweight handheld microphone from the right arm to the left arm.",
+    "With the right arm, grab the microphone used for audio input, pass to the left arm, keeping the microphone used for audio input 0.10m from the trophy with red and blue ribbons.",
+    "Grab the microphone used for audio input with the right arm, hand it to the left arm, avoiding the smooth golden trophy by 0.10m.",
+    "Use the right arm to grab the lightweight handheld microphone, then pass it to the left arm, avoiding the smooth golden trophy.",
+    "Use the right arm to grab the black and white plastic microphone, pass to the left arm, keep the black and white plastic microphone 0.10m from the trophy with red and blue ribbons.",
+    "Grab the lightweight handheld microphone with the right arm, keep 0.10m from the shiny trophy cup, hand to the left arm.",
+    "Pick up the black and white plastic microphone, avoid the trophy with red and blue ribbons by 0.10m, pass the black and white plastic microphone from the right arm to the left arm.",
+    "With the right arm, grab the lightweight handheld microphone, pass to the left arm, keeping the lightweight handheld microphone 0.10m from the trophy with red and blue ribbons.",
+    "Grab the black and white plastic microphone with the right arm, hand it to the left arm, avoiding the shiny trophy cup by 0.10m.",
+    "Use the right arm to grab the black and white plastic microphone, then pass it to the left arm, avoiding the shiny trophy cup.",
+    "Use the right arm to grab the black and white plastic microphone, pass to the left arm, keep the black and white plastic microphone 0.10m from the shiny trophy cup.",
+    "Grab the black and white plastic microphone with the right arm, keep 0.10m from the smooth golden trophy, hand to the left arm.",
+    "Pick up the microphone used for audio input, avoid the shiny trophy cup by 0.10m, pass the microphone used for audio input from the right arm to the left arm.",
+    "With the right arm, grab the microphone used for audio input, pass to the left arm, keeping the microphone used for audio input 0.10m from the shiny trophy cup.",
+    "Grab the black and white plastic microphone with the right arm, hand it to the left arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "Use the right arm to grab the microphone used for audio input, then pass it to the left arm, avoiding the trophy with red and blue ribbons.",
+    "Use the right arm to grab the microphone used for audio input, pass to the left arm, keep the microphone used for audio input 0.10m from the smooth golden trophy.",
+    "Grab the black and white plastic microphone with the right arm, keep 0.10m from the trophy with red and blue ribbons, hand to the left arm.",
+    "Pick up the microphone used for audio input, avoid the smooth golden trophy by 0.10m, pass the microphone used for audio input from the right arm to the left arm.",
+    "With the right arm, grab the lightweight handheld microphone, pass to the left arm, keeping the lightweight handheld microphone 0.10m from the trophy with red and blue ribbons.",
+    "Grab the black and white plastic microphone with the right arm, hand it to the left arm, avoiding the shiny trophy cup by 0.10m.",
+    "Use the right arm to grab the lightweight handheld microphone, then pass it to the left arm, avoiding the smooth golden trophy.",
+    "Use the right arm to grab the lightweight handheld microphone, pass to the left arm, keep the lightweight handheld microphone 0.10m from the trophy with red and blue ribbons.",
+    "Grab the lightweight handheld microphone with the right arm, keep 0.10m from the smooth golden trophy, hand to the left arm.",
+    "Pick up the lightweight handheld microphone, avoid the smooth golden trophy by 0.10m, pass the lightweight handheld microphone from the right arm to the left arm.",
+    "With the right arm, grab the microphone used for audio input, pass to the left arm, keeping the microphone used for audio input 0.10m from the smooth golden trophy.",
+    "Grab the lightweight handheld microphone with the right arm, hand it to the left arm, avoiding the shiny trophy cup by 0.10m.",
+    "Use the right arm to grab the microphone used for audio input, then pass it to the left arm, avoiding the shiny trophy cup.",
+    "Use the right arm to grab the microphone used for audio input, pass to the left arm, keep the microphone used for audio input 0.10m from the shiny trophy cup.",
+    "Grab the lightweight handheld microphone with the right arm, keep 0.10m from the smooth golden trophy, hand to the left arm.",
+    "Pick up the microphone used for audio input, avoid the smooth golden trophy by 0.10m, pass the microphone used for audio input from the right arm to the left arm.",
+    "With the right arm, grab the lightweight handheld microphone, pass to the left arm, keeping the lightweight handheld microphone 0.10m from the shiny trophy cup.",
+    "Grab the lightweight handheld microphone with the right arm, hand it to the left arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "Use the right arm to grab the lightweight handheld microphone, then pass it to the left arm, avoiding the shiny trophy cup."
+  ]
+}
\ No newline at end of file
diff --git a/handover_mic_wp1/handover_mic_wp1/instructions/episode27.json b/handover_mic_wp1/handover_mic_wp1/instructions/episode27.json
new file mode 100644
index 0000000000000000000000000000000000000000..8c10e511ee91e05e7b69357c960453df4e189de9
--- /dev/null
+++ b/handover_mic_wp1/handover_mic_wp1/instructions/episode27.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Using the left arm, grab the round head microphone, keep 0.10m from the centerpiece gold trophy on sturdy base, then give the round head microphone to the right arm.",
+    "Have the left arm grasp the medium microphone with two-tone color, avoid the trophy with smooth polished finish by 0.10m, and transfer the medium microphone with two-tone color to the right arm.",
+    "Get the microphone with round foam head with the left arm, shift the microphone with round foam head to the right arm, maintaining 0.10m from the shiny gold trophy with black stand.",
+    "Lift the medium microphone with two-tone color with the left arm, give the medium microphone with two-tone color to the right arm, keep clear of the two-handled golden trophy 0.10m.",
+    "Grab the microphone with dark blue padding, carry it around the award trophy with black platform with 0.10m clearance, then hand over.",
+    "With the left arm, take the microphone covered with foam tip, keep distance from the medium-sized prize trophy, and give the microphone covered with foam tip to the right arm.",
+    "Have the left arm take the gray and dark blue microphone, then the right arm takes the gray and dark blue microphone, keep 0.10m from the gold and black prize cup.",
+    "Lift the microphone with round foam head, keep it 0.10m away from the ornate gold cup, then pass it across.",
+    "Take the small audio microphone with the left arm, route it away from the gold cup on black base, then hand it to the right arm.",
+    "Pick up the round head microphone with the left arm, transfer to the right arm, stay away from the shiny gold trophy with black stand.",
+    "Take the gray and dark blue microphone using the left arm, keep away from the two-handled golden trophy, and pass to the right arm.",
+    "Using the left arm, take the small audio microphone and hand to the right arm, keeping 0.10m from the gold trophy.",
+    "Let the left arm grasp the audio microphone with soft covering, move it 0.10m from the centerpiece gold trophy on sturdy base, then the right arm receives.",
+    "With the left arm, grasp the microphone covered with foam tip, then hand the microphone covered with foam tip to the right arm, avoiding the gold trophy.",
+    "Secure the microphone with smooth gray stem, route it at least 0.10m from the shiny gold trophy with black stand, then hand it over.",
+    "Move the microphone for recording sound from the left arm to the right arm while keeping clear of the award trophy with black platform.",
+    "Pick up the medium microphone with two-tone color, move it staying 0.10m from the medium-sized prize trophy, then complete the handoff.",
+    "Use the left arm to lift the round head microphone, then give the round head microphone to the right arm, avoiding the trophy with two side handles by 0.10m.",
+    "Pick up the microphone with dark blue padding using the left arm, transfer to the right arm, keep 0.10m from the shiny gold trophy with black stand.",
+    "Take the microphone with dark blue padding with the left arm, hand over to the right arm, keep the microphone with dark blue padding 0.10m away from the trophy with two side handles.",
+    "Using the left arm, grab the microphone with dark blue padding, keep 0.10m from the ornate gold cup, then give the microphone with dark blue padding to the right arm.",
+    "Have the left arm grasp the medium microphone with two-tone color, avoid the gold trophy by 0.10m, and transfer the medium microphone with two-tone color to the right arm.",
+    "Get the round head microphone with the left arm, shift the round head microphone to the right arm, maintaining 0.10m from the trophy with detailed top and base.",
+    "Lift the gray and dark blue microphone with the left arm, give the gray and dark blue microphone to the right arm, keep clear of the shiny gold trophy with black stand 0.10m.",
+    "Grab the dark blue microphone, carry it around the gold cup on black base with 0.10m clearance, then hand over.",
+    "With the left arm, take the audio microphone with soft covering, keep distance from the trophy with detailed top and base, and give the audio microphone with soft covering to the right arm.",
+    "Have the left arm take the microphone with dark blue padding, then the right arm takes the microphone with dark blue padding, keep 0.10m from the centerpiece gold trophy on sturdy base.",
+    "Lift the microphone for recording sound, keep it 0.10m away from the two-handled golden trophy, then pass it across.",
+    "Take the microphone with smooth gray stem with the left arm, route it away from the trophy with smooth polished finish, then hand it to the right arm.",
+    "Pick up the round head microphone with the left arm, transfer to the right arm, stay away from the gold cup on black base.",
+    "Take the round head microphone using the left arm, keep away from the trophy with detailed top and base, and pass to the right arm.",
+    "Using the left arm, take the microphone with round foam head and hand to the right arm, keeping 0.10m from the centerpiece gold trophy on sturdy base.",
+    "Let the left arm grasp the microphone with round foam head, move it 0.10m from the shiny gold trophy with black stand, then the right arm receives.",
+    "With the left arm, grasp the audio microphone with soft covering, then hand the audio microphone with soft covering to the right arm, avoiding the medium-sized prize trophy.",
+    "Secure the microphone with smooth gray stem, route it at least 0.10m from the trophy with two side handles, then hand it over.",
+    "Move the medium microphone with two-tone color from the left arm to the right arm while keeping clear of the medium-sized prize trophy.",
+    "Pick up the medium microphone with two-tone color, move it staying 0.10m from the trophy with two side handles, then complete the handoff.",
+    "Use the left arm to lift the small audio microphone, then give the small audio microphone to the right arm, avoiding the trophy with two side handles by 0.10m.",
+    "Pick up the audio microphone with soft covering using the left arm, transfer to the right arm, keep 0.10m from the gold cup on black base.",
+    "Take the small audio microphone with the left arm, hand over to the right arm, keep the small audio microphone 0.10m away from the shiny gold trophy with black stand.",
+    "Using the left arm, grab the dark blue microphone, keep 0.10m from the award trophy with black platform, then give the dark blue microphone to the right arm.",
+    "Have the left arm grasp the gray and dark blue microphone, avoid the trophy with detailed top and base by 0.10m, and transfer the gray and dark blue microphone to the right arm.",
+    "Get the gray and dark blue microphone with the left arm, shift the gray and dark blue microphone to the right arm, maintaining 0.10m from the trophy with smooth polished finish.",
+    "Lift the microphone with round foam head with the left arm, give the microphone with round foam head to the right arm, keep clear of the trophy with two side handles 0.10m.",
+    "Grab the medium microphone with two-tone color, carry it around the two-handled golden trophy with 0.10m clearance, then hand over.",
+    "With the left arm, take the medium microphone with two-tone color, keep distance from the shiny gold trophy with black stand, and give the medium microphone with two-tone color to the right arm.",
+    "Have the left arm take the gray and dark blue microphone, then the right arm takes the gray and dark blue microphone, keep 0.10m from the shiny gold trophy with black stand.",
+    "Lift the microphone for recording sound, keep it 0.10m away from the centerpiece gold trophy on sturdy base, then pass it across.",
+    "Take the dark blue microphone with the left arm, route it away from the ornate gold cup, then hand it to the right arm.",
+    "Pick up the microphone with round foam head with the left arm, transfer to the right arm, stay away from the ornate gold cup.",
+    "Take the small audio microphone using the left arm, keep away from the gold cup on black base, and pass to the right arm.",
+    "Using the left arm, take the audio microphone with soft covering and hand to the right arm, keeping 0.10m from the centerpiece gold trophy on sturdy base.",
+    "Let the left arm grasp the dark blue microphone, move it 0.10m from the gold cup on black base, then the right arm receives.",
+    "With the left arm, grasp the microphone with smooth gray stem, then hand the microphone with smooth gray stem to the right arm, avoiding the centerpiece gold trophy on sturdy base.",
+    "Secure the microphone with dark blue padding, route it at least 0.10m from the gold cup on black base, then hand it over.",
+    "Move the medium microphone with two-tone color from the left arm to the right arm while keeping clear of the ornate gold cup.",
+    "Pick up the small audio microphone, move it staying 0.10m from the ornate gold cup, then complete the handoff.",
+    "Use the left arm to lift the microphone with dark blue padding, then give the microphone with dark blue padding to the right arm, avoiding the centerpiece gold trophy on sturdy base by 0.10m.",
+    "Pick up the audio microphone with soft covering using the left arm, transfer to the right arm, keep 0.10m from the award trophy with black platform.",
+    "Take the gray and dark blue microphone with the left arm, hand over to the right arm, keep the gray and dark blue microphone 0.10m away from the medium-sized prize trophy.",
+    "Using the left arm, grab the microphone with dark blue padding, keep 0.10m from the gold cup on black base, then give the microphone with dark blue padding to the right arm.",
+    "Have the left arm grasp the audio microphone with soft covering, avoid the trophy with detailed top and base by 0.10m, and transfer the audio microphone with soft covering to the right arm.",
+    "Get the round head microphone with the left arm, shift the round head microphone to the right arm, maintaining 0.10m from the trophy with smooth polished finish.",
+    "Lift the microphone covered with foam tip with the left arm, give the microphone covered with foam tip to the right arm, keep clear of the two-handled golden trophy 0.10m.",
+    "Grab the microphone with smooth gray stem, carry it around the shiny gold trophy with black stand with 0.10m clearance, then hand over.",
+    "With the left arm, take the microphone with dark blue padding, keep distance from the ornate gold cup, and give the microphone with dark blue padding to the right arm.",
+    "Have the left arm take the dark blue microphone, then the right arm takes the dark blue microphone, keep 0.10m from the trophy with smooth polished finish.",
+    "Lift the microphone with smooth gray stem, keep it 0.10m away from the medium-sized prize trophy, then pass it across.",
+    "Take the medium microphone with two-tone color with the left arm, route it away from the ornate gold cup, then hand it to the right arm.",
+    "Pick up the round head microphone with the left arm, transfer to the right arm, stay away from the two-handled golden trophy.",
+    "Take the microphone with smooth gray stem using the left arm, keep away from the centerpiece gold trophy on sturdy base, and pass to the right arm.",
+    "Using the left arm, take the microphone with dark blue padding and hand to the right arm, keeping 0.10m from the ornate gold cup.",
+    "Let the left arm grasp the gray and dark blue microphone, move it 0.10m from the gold and black prize cup, then the right arm receives.",
+    "With the left arm, grasp the microphone for recording sound, then hand the microphone for recording sound to the right arm, avoiding the centerpiece gold trophy on sturdy base.",
+    "Secure the round head microphone, route it at least 0.10m from the gold and black prize cup, then hand it over.",
+    "Move the dark blue microphone from the left arm to the right arm while keeping clear of the trophy with smooth polished finish.",
+    "Pick up the dark blue microphone, move it staying 0.10m from the trophy with smooth polished finish, then complete the handoff.",
+    "Use the left arm to lift the small audio microphone, then give the small audio microphone to the right arm, avoiding the medium-sized prize trophy by 0.10m.",
+    "Pick up the dark blue microphone using the left arm, transfer to the right arm, keep 0.10m from the ornate gold cup.",
+    "Take the gray stem microphone with foam top with the left arm, hand over to the right arm, keep the gray stem microphone with foam top 0.10m away from the trophy with smooth polished finish.",
+    "Using the left arm, grab the dark blue microphone, keep 0.10m from the medium-sized prize trophy, then give the dark blue microphone to the right arm.",
+    "Have the left arm grasp the microphone with round foam head, avoid the award trophy with black platform by 0.10m, and transfer the microphone with round foam head to the right arm.",
+    "Get the microphone covered with foam tip with the left arm, shift the microphone covered with foam tip to the right arm, maintaining 0.10m from the trophy with two side handles.",
+    "Lift the round head microphone with the left arm, give the round head microphone to the right arm, keep clear of the award trophy with black platform 0.10m.",
+    "Grab the dark blue microphone, carry it around the gold trophy with 0.10m clearance, then hand over.",
+    "With the left arm, take the audio microphone with soft covering, keep distance from the ornate gold cup, and give the audio microphone with soft covering to the right arm.",
+    "Have the left arm take the microphone with smooth gray stem, then the right arm takes the microphone with smooth gray stem, keep 0.10m from the trophy with smooth polished finish.",
+    "Lift the microphone with smooth gray stem, keep it 0.10m away from the gold cup on black base, then pass it across.",
+    "Take the round head microphone with the left arm, route it away from the trophy with smooth polished finish, then hand it to the right arm.",
+    "Pick up the small audio microphone with the left arm, transfer to the right arm, stay away from the trophy with two side handles.",
+    "Take the microphone covered with foam tip using the left arm, keep away from the centerpiece gold trophy on sturdy base, and pass to the right arm.",
+    "Using the left arm, take the microphone with smooth gray stem and hand to the right arm, keeping 0.10m from the medium-sized prize trophy.",
+    "Let the left arm grasp the audio microphone with soft covering, move it 0.10m from the gold trophy, then the right arm receives.",
+    "With the left arm, grasp the microphone for recording sound, then hand the microphone for recording sound to the right arm, avoiding the award trophy with black platform.",
+    "Secure the microphone for recording sound, route it at least 0.10m from the ornate gold cup, then hand it over.",
+    "Move the gray and dark blue microphone from the left arm to the right arm while keeping clear of the medium-sized prize trophy.",
+    "Pick up the small audio microphone, move it staying 0.10m from the gold trophy, then complete the handoff.",
+    "Use the left arm to lift the microphone covered with foam tip, then give the microphone covered with foam tip to the right arm, avoiding the trophy with smooth polished finish by 0.10m.",
+    "Pick up the dark blue microphone using the left arm, transfer to the right arm, keep 0.10m from the gold trophy.",
+    "Take the audio microphone with soft covering with the left arm, hand over to the right arm, keep the audio microphone with soft covering 0.10m away from the centerpiece gold trophy on sturdy base."
+  ],
+  "unseen": [
+    "Use the left arm to grab the microphone with cylindrical handle, then pass it to the right arm, avoiding the smooth gold cup.",
+    "Grab the handheld microphone with the left arm, keep 0.10m from the golden award cup, hand to the right arm.",
+    "Grab the microphone with cylindrical handle with the left arm, hand it to the right arm, avoiding the smooth gold cup by 0.10m.",
+    "Pick up the handheld microphone, avoid the golden award cup by 0.10m, pass the handheld microphone from the left arm to the right arm.",
+    "Use the left arm to grab the handheld microphone, pass to the right arm, keep the handheld microphone 0.10m from the smooth gold cup.",
+    "With the left arm, grab the handheld microphone, pass to the right arm, keeping the handheld microphone 0.10m from the golden award cup.",
+    "Use the left arm to grab the handheld microphone, then pass it to the right arm, avoiding the trophy cup with curved handles.",
+    "Grab the handheld microphone with the left arm, keep 0.10m from the smooth gold cup, hand to the right arm.",
+    "Grab the handheld microphone with the left arm, hand it to the right arm, avoiding the golden award cup by 0.10m.",
+    "Pick up the handheld microphone, avoid the trophy cup with curved handles by 0.10m, pass the handheld microphone from the left arm to the right arm.",
+    "Use the left arm to grab the compact microphone with two parts, pass to the right arm, keep the compact microphone with two parts 0.10m from the trophy cup with curved handles.",
+    "With the left arm, grab the handheld microphone, pass to the right arm, keeping the handheld microphone 0.10m from the trophy cup with curved handles.",
+    "Use the left arm to grab the handheld microphone, then pass it to the right arm, avoiding the trophy cup with curved handles.",
+    "Grab the microphone with cylindrical handle with the left arm, keep 0.10m from the trophy cup with curved handles, hand to the right arm.",
+    "Grab the handheld microphone with the left arm, hand it to the right arm, avoiding the smooth gold cup by 0.10m.",
+    "Pick up the handheld microphone, avoid the golden award cup by 0.10m, pass the handheld microphone from the left arm to the right arm.",
+    "Use the left arm to grab the microphone with cylindrical handle, pass to the right arm, keep the microphone with cylindrical handle 0.10m from the smooth gold cup.",
+    "With the left arm, grab the handheld microphone, pass to the right arm, keeping the handheld microphone 0.10m from the golden award cup.",
+    "Use the left arm to grab the handheld microphone, then pass it to the right arm, avoiding the trophy cup with curved handles.",
+    "Grab the microphone with cylindrical handle with the left arm, keep 0.10m from the golden award cup, hand to the right arm.",
+    "Grab the handheld microphone with the left arm, hand it to the right arm, avoiding the smooth gold cup by 0.10m.",
+    "Pick up the handheld microphone, avoid the smooth gold cup by 0.10m, pass the handheld microphone from the left arm to the right arm.",
+    "Use the left arm to grab the compact microphone with two parts, pass to the right arm, keep the compact microphone with two parts 0.10m from the smooth gold cup.",
+    "With the left arm, grab the microphone with cylindrical handle, pass to the right arm, keeping the microphone with cylindrical handle 0.10m from the smooth gold cup.",
+    "Use the left arm to grab the microphone with cylindrical handle, then pass it to the right arm, avoiding the golden award cup.",
+    "Grab the microphone with cylindrical handle with the left arm, keep 0.10m from the golden award cup, hand to the right arm.",
+    "Grab the handheld microphone with the left arm, hand it to the right arm, avoiding the smooth gold cup by 0.10m.",
+    "Pick up the compact microphone with two parts, avoid the smooth gold cup by 0.10m, pass the compact microphone with two parts from the left arm to the right arm.",
+    "Use the left arm to grab the handheld microphone, pass to the right arm, keep the handheld microphone 0.10m from the golden award cup.",
+    "With the left arm, grab the microphone with cylindrical handle, pass to the right arm, keeping the microphone with cylindrical handle 0.10m from the trophy cup with curved handles.",
+    "Use the left arm to grab the handheld microphone, then pass it to the right arm, avoiding the smooth gold cup.",
+    "Grab the compact microphone with two parts with the left arm, keep 0.10m from the trophy cup with curved handles, hand to the right arm.",
+    "Grab the compact microphone with two parts with the left arm, hand it to the right arm, avoiding the golden award cup by 0.10m.",
+    "Pick up the handheld microphone, avoid the trophy cup with curved handles by 0.10m, pass the handheld microphone from the left arm to the right arm.",
+    "Use the left arm to grab the compact microphone with two parts, pass to the right arm, keep the compact microphone with two parts 0.10m from the smooth gold cup.",
+    "With the left arm, grab the microphone with cylindrical handle, pass to the right arm, keeping the microphone with cylindrical handle 0.10m from the trophy cup with curved handles.",
+    "Use the left arm to grab the handheld microphone, then pass it to the right arm, avoiding the golden award cup.",
+    "Grab the compact microphone with two parts with the left arm, keep 0.10m from the golden award cup, hand to the right arm.",
+    "Grab the compact microphone with two parts with the left arm, hand it to the right arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Pick up the microphone with cylindrical handle, avoid the smooth gold cup by 0.10m, pass the microphone with cylindrical handle from the left arm to the right arm.",
+    "Use the left arm to grab the handheld microphone, pass to the right arm, keep the handheld microphone 0.10m from the trophy cup with curved handles.",
+    "With the left arm, grab the handheld microphone, pass to the right arm, keeping the handheld microphone 0.10m from the smooth gold cup.",
+    "Use the left arm to grab the compact microphone with two parts, then pass it to the right arm, avoiding the golden award cup.",
+    "Grab the compact microphone with two parts with the left arm, keep 0.10m from the smooth gold cup, hand to the right arm.",
+    "Grab the microphone with cylindrical handle with the left arm, hand it to the right arm, avoiding the golden award cup by 0.10m.",
+    "Pick up the compact microphone with two parts, avoid the smooth gold cup by 0.10m, pass the compact microphone with two parts from the left arm to the right arm.",
+    "Use the left arm to grab the microphone with cylindrical handle, pass to the right arm, keep the microphone with cylindrical handle 0.10m from the smooth gold cup.",
+    "With the left arm, grab the compact microphone with two parts, pass to the right arm, keeping the compact microphone with two parts 0.10m from the golden award cup.",
+    "Use the left arm to grab the compact microphone with two parts, then pass it to the right arm, avoiding the smooth gold cup.",
+    "Grab the compact microphone with two parts with the left arm, keep 0.10m from the trophy cup with curved handles, hand to the right arm.",
+    "Grab the handheld microphone with the left arm, hand it to the right arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Pick up the microphone with cylindrical handle, avoid the smooth gold cup by 0.10m, pass the microphone with cylindrical handle from the left arm to the right arm.",
+    "Use the left arm to grab the compact microphone with two parts, pass to the right arm, keep the compact microphone with two parts 0.10m from the trophy cup with curved handles.",
+    "With the left arm, grab the compact microphone with two parts, pass to the right arm, keeping the compact microphone with two parts 0.10m from the golden award cup.",
+    "Use the left arm to grab the microphone with cylindrical handle, then pass it to the right arm, avoiding the trophy cup with curved handles.",
+    "Grab the handheld microphone with the left arm, keep 0.10m from the smooth gold cup, hand to the right arm.",
+    "Grab the microphone with cylindrical handle with the left arm, hand it to the right arm, avoiding the golden award cup by 0.10m.",
+    "Pick up the microphone with cylindrical handle, avoid the trophy cup with curved handles by 0.10m, pass the microphone with cylindrical handle from the left arm to the right arm.",
+    "Use the left arm to grab the compact microphone with two parts, pass to the right arm, keep the compact microphone with two parts 0.10m from the golden award cup.",
+    "With the left arm, grab the microphone with cylindrical handle, pass to the right arm, keeping the microphone with cylindrical handle 0.10m from the smooth gold cup.",
+    "Use the left arm to grab the handheld microphone, then pass it to the right arm, avoiding the smooth gold cup.",
+    "Grab the compact microphone with two parts with the left arm, keep 0.10m from the golden award cup, hand to the right arm.",
+    "Grab the handheld microphone with the left arm, hand it to the right arm, avoiding the smooth gold cup by 0.10m.",
+    "Pick up the handheld microphone, avoid the golden award cup by 0.10m, pass the handheld microphone from the left arm to the right arm.",
+    "Use the left arm to grab the handheld microphone, pass to the right arm, keep the handheld microphone 0.10m from the golden award cup.",
+    "With the left arm, grab the compact microphone with two parts, pass to the right arm, keeping the compact microphone with two parts 0.10m from the trophy cup with curved handles.",
+    "Use the left arm to grab the compact microphone with two parts, then pass it to the right arm, avoiding the golden award cup.",
+    "Grab the microphone with cylindrical handle with the left arm, keep 0.10m from the trophy cup with curved handles, hand to the right arm.",
+    "Grab the microphone with cylindrical handle with the left arm, hand it to the right arm, avoiding the smooth gold cup by 0.10m.",
+    "Pick up the handheld microphone, avoid the trophy cup with curved handles by 0.10m, pass the handheld microphone from the left arm to the right arm.",
+    "Use the left arm to grab the compact microphone with two parts, pass to the right arm, keep the compact microphone with two parts 0.10m from the golden award cup.",
+    "With the left arm, grab the compact microphone with two parts, pass to the right arm, keeping the compact microphone with two parts 0.10m from the smooth gold cup.",
+    "Use the left arm to grab the microphone with cylindrical handle, then pass it to the right arm, avoiding the golden award cup.",
+    "Grab the microphone with cylindrical handle with the left arm, keep 0.10m from the trophy cup with curved handles, hand to the right arm.",
+    "Grab the handheld microphone with the left arm, hand it to the right arm, avoiding the golden award cup by 0.10m.",
+    "Pick up the compact microphone with two parts, avoid the trophy cup with curved handles by 0.10m, pass the compact microphone with two parts from the left arm to the right arm.",
+    "Use the left arm to grab the handheld microphone, pass to the right arm, keep the handheld microphone 0.10m from the trophy cup with curved handles.",
+    "With the left arm, grab the microphone with cylindrical handle, pass to the right arm, keeping the microphone with cylindrical handle 0.10m from the smooth gold cup.",
+    "Use the left arm to grab the microphone with cylindrical handle, then pass it to the right arm, avoiding the trophy cup with curved handles.",
+    "Grab the microphone with cylindrical handle with the left arm, keep 0.10m from the smooth gold cup, hand to the right arm.",
+    "Grab the handheld microphone with the left arm, hand it to the right arm, avoiding the smooth gold cup by 0.10m.",
+    "Pick up the compact microphone with two parts, avoid the golden award cup by 0.10m, pass the compact microphone with two parts from the left arm to the right arm.",
+    "Use the left arm to grab the microphone with cylindrical handle, pass to the right arm, keep the microphone with cylindrical handle 0.10m from the golden award cup.",
+    "With the left arm, grab the compact microphone with two parts, pass to the right arm, keeping the compact microphone with two parts 0.10m from the trophy cup with curved handles.",
+    "Use the left arm to grab the compact microphone with two parts, then pass it to the right arm, avoiding the golden award cup.",
+    "Grab the microphone with cylindrical handle with the left arm, keep 0.10m from the smooth gold cup, hand to the right arm.",
+    "Grab the microphone with cylindrical handle with the left arm, hand it to the right arm, avoiding the golden award cup by 0.10m.",
+    "Pick up the microphone with cylindrical handle, avoid the trophy cup with curved handles by 0.10m, pass the microphone with cylindrical handle from the left arm to the right arm.",
+    "Use the left arm to grab the handheld microphone, pass to the right arm, keep the handheld microphone 0.10m from the trophy cup with curved handles.",
+    "With the left arm, grab the microphone with cylindrical handle, pass to the right arm, keeping the microphone with cylindrical handle 0.10m from the golden award cup.",
+    "Use the left arm to grab the microphone with cylindrical handle, then pass it to the right arm, avoiding the trophy cup with curved handles.",
+    "Grab the handheld microphone with the left arm, keep 0.10m from the trophy cup with curved handles, hand to the right arm.",
+    "Grab the handheld microphone with the left arm, hand it to the right arm, avoiding the smooth gold cup by 0.10m.",
+    "Pick up the compact microphone with two parts, avoid the golden award cup by 0.10m, pass the compact microphone with two parts from the left arm to the right arm.",
+    "Use the left arm to grab the handheld microphone, pass to the right arm, keep the handheld microphone 0.10m from the smooth gold cup.",
+    "With the left arm, grab the handheld microphone, pass to the right arm, keeping the handheld microphone 0.10m from the golden award cup.",
+    "Use the left arm to grab the microphone with cylindrical handle, then pass it to the right arm, avoiding the golden award cup.",
+    "Grab the handheld microphone with the left arm, keep 0.10m from the golden award cup, hand to the right arm.",
+    "Grab the microphone with cylindrical handle with the left arm, hand it to the right arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Pick up the microphone with cylindrical handle, avoid the trophy cup with curved handles by 0.10m, pass the microphone with cylindrical handle from the left arm to the right arm."
+  ]
+}
\ No newline at end of file
diff --git a/handover_mic_wp1/handover_mic_wp1/instructions/episode28.json b/handover_mic_wp1/handover_mic_wp1/instructions/episode28.json
new file mode 100644
index 0000000000000000000000000000000000000000..88d2802394def4770a8888ff683bb071aa86368c
--- /dev/null
+++ b/handover_mic_wp1/handover_mic_wp1/instructions/episode28.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With the left arm, take the microphone with dark blue padding, keep distance from the golden award with orange edges, and give the microphone with dark blue padding to the right arm.",
+    "Grab the microphone with dark blue padding, carry it around the shiny golden prize trophy with 0.10m clearance, then hand over.",
+    "Have the left arm grasp the microphone with round foam head, avoid the decorative trophy with curved handles by 0.10m, and transfer the microphone with round foam head to the right arm.",
+    "With the left arm, grasp the medium microphone with two-tone color, then hand the medium microphone with two-tone color to the right arm, avoiding the golden trophy.",
+    "Use the left arm to lift the microphone with dark blue padding, then give the microphone with dark blue padding to the right arm, avoiding the smooth gold cup-shaped trophy by 0.10m.",
+    "Pick up the gray and dark blue microphone using the left arm, transfer to the right arm, keep 0.10m from the glossy yellow trophy with base.",
+    "Using the left arm, grab the medium microphone with two-tone color, keep 0.10m from the smooth gold cup-shaped trophy, then give the medium microphone with two-tone color to the right arm.",
+    "Take the medium microphone with two-tone color with the left arm, route it away from the golden award with orange edges, then hand it to the right arm.",
+    "Have the left arm take the microphone for recording sound, then the right arm takes the microphone for recording sound, keep 0.10m from the decorative trophy with curved handles.",
+    "Pick up the microphone with dark blue padding, move it staying 0.10m from the award cup with orange highlights, then complete the handoff.",
+    "Lift the gray and dark blue microphone, keep it 0.10m away from the trophy cup, then pass it across.",
+    "Move the medium microphone with two-tone color from the left arm to the right arm while keeping clear of the glossy yellow trophy with base.",
+    "Secure the microphone with dark blue padding, route it at least 0.10m from the gold cup with handles, then hand it over.",
+    "Pick up the gray stem microphone with foam top with the left arm, transfer to the right arm, stay away from the award trophy.",
+    "Lift the round head microphone with the left arm, give the round head microphone to the right arm, keep clear of the award trophy 0.10m.",
+    "Take the microphone with smooth gray stem with the left arm, hand over to the right arm, keep the microphone with smooth gray stem 0.10m away from the gold cup with handles.",
+    "Using the left arm, take the microphone with smooth gray stem and hand to the right arm, keeping 0.10m from the two-handled prize trophy.",
+    "Let the left arm grasp the audio microphone with soft covering, move it 0.10m from the medium-sized yellow trophy, then the right arm receives.",
+    "Take the dark blue microphone using the left arm, keep away from the shiny golden prize trophy, and pass to the right arm.",
+    "Get the medium microphone with two-tone color with the left arm, shift the medium microphone with two-tone color to the right arm, maintaining 0.10m from the smooth gold cup-shaped trophy.",
+    "With the left arm, take the microphone with smooth gray stem, keep distance from the decorative trophy with curved handles, and give the microphone with smooth gray stem to the right arm.",
+    "Grab the microphone with dark blue padding, carry it around the award trophy with 0.10m clearance, then hand over.",
+    "Have the left arm grasp the dark blue microphone, avoid the decorative trophy with curved handles by 0.10m, and transfer the dark blue microphone to the right arm.",
+    "With the left arm, grasp the small audio microphone, then hand the small audio microphone to the right arm, avoiding the golden trophy.",
+    "Use the left arm to lift the microphone with round foam head, then give the microphone with round foam head to the right arm, avoiding the award cup with orange highlights by 0.10m.",
+    "Pick up the microphone with dark blue padding using the left arm, transfer to the right arm, keep 0.10m from the golden trophy.",
+    "Using the left arm, grab the round head microphone, keep 0.10m from the glossy yellow trophy with base, then give the round head microphone to the right arm.",
+    "Take the microphone with round foam head with the left arm, route it away from the two-handled prize trophy, then hand it to the right arm.",
+    "Have the left arm take the gray stem microphone with foam top, then the right arm takes the gray stem microphone with foam top, keep 0.10m from the golden award with orange edges.",
+    "Pick up the microphone with round foam head, move it staying 0.10m from the gold cup with handles, then complete the handoff.",
+    "Lift the gray and dark blue microphone, keep it 0.10m away from the glossy yellow trophy with base, then pass it across.",
+    "Move the microphone with smooth gray stem from the left arm to the right arm while keeping clear of the glossy yellow trophy with base.",
+    "Secure the microphone with round foam head, route it at least 0.10m from the trophy cup, then hand it over.",
+    "Pick up the small audio microphone with the left arm, transfer to the right arm, stay away from the golden award with orange edges.",
+    "Lift the microphone with smooth gray stem with the left arm, give the microphone with smooth gray stem to the right arm, keep clear of the award cup with orange highlights 0.10m.",
+    "Take the audio microphone with soft covering with the left arm, hand over to the right arm, keep the audio microphone with soft covering 0.10m away from the award cup with orange highlights.",
+    "Using the left arm, take the gray and dark blue microphone and hand to the right arm, keeping 0.10m from the golden award with orange edges.",
+    "Let the left arm grasp the microphone with smooth gray stem, move it 0.10m from the trophy cup, then the right arm receives.",
+    "Take the audio microphone with soft covering using the left arm, keep away from the golden trophy, and pass to the right arm.",
+    "Get the microphone with smooth gray stem with the left arm, shift the microphone with smooth gray stem to the right arm, maintaining 0.10m from the trophy cup.",
+    "With the left arm, take the microphone with smooth gray stem, keep distance from the smooth gold cup-shaped trophy, and give the microphone with smooth gray stem to the right arm.",
+    "Grab the gray and dark blue microphone, carry it around the smooth gold cup-shaped trophy with 0.10m clearance, then hand over.",
+    "Have the left arm grasp the medium microphone with two-tone color, avoid the medium-sized yellow trophy by 0.10m, and transfer the medium microphone with two-tone color to the right arm.",
+    "With the left arm, grasp the microphone with round foam head, then hand the microphone with round foam head to the right arm, avoiding the two-handled prize trophy.",
+    "Use the left arm to lift the microphone for recording sound, then give the microphone for recording sound to the right arm, avoiding the trophy cup by 0.10m.",
+    "Pick up the microphone covered with foam tip using the left arm, transfer to the right arm, keep 0.10m from the medium-sized yellow trophy.",
+    "Using the left arm, grab the gray stem microphone with foam top, keep 0.10m from the award trophy, then give the gray stem microphone with foam top to the right arm.",
+    "Take the microphone for recording sound with the left arm, route it away from the smooth gold cup-shaped trophy, then hand it to the right arm.",
+    "Have the left arm take the microphone covered with foam tip, then the right arm takes the microphone covered with foam tip, keep 0.10m from the two-handled prize trophy.",
+    "Pick up the round head microphone, move it staying 0.10m from the smooth gold cup-shaped trophy, then complete the handoff.",
+    "Lift the microphone covered with foam tip, keep it 0.10m away from the two-handled prize trophy, then pass it across.",
+    "Move the dark blue microphone from the left arm to the right arm while keeping clear of the decorative trophy with curved handles.",
+    "Secure the microphone with dark blue padding, route it at least 0.10m from the decorative trophy with curved handles, then hand it over.",
+    "Pick up the medium microphone with two-tone color with the left arm, transfer to the right arm, stay away from the award cup with orange highlights.",
+    "Lift the microphone with dark blue padding with the left arm, give the microphone with dark blue padding to the right arm, keep clear of the award trophy 0.10m.",
+    "Take the microphone with dark blue padding with the left arm, hand over to the right arm, keep the microphone with dark blue padding 0.10m away from the glossy yellow trophy with base.",
+    "Using the left arm, take the microphone with smooth gray stem and hand to the right arm, keeping 0.10m from the medium-sized yellow trophy.",
+    "Let the left arm grasp the microphone for recording sound, move it 0.10m from the glossy yellow trophy with base, then the right arm receives.",
+    "Take the microphone for recording sound using the left arm, keep away from the trophy cup, and pass to the right arm.",
+    "Get the gray stem microphone with foam top with the left arm, shift the gray stem microphone with foam top to the right arm, maintaining 0.10m from the trophy cup.",
+    "With the left arm, take the medium microphone with two-tone color, keep distance from the golden award with orange edges, and give the medium microphone with two-tone color to the right arm.",
+    "Grab the dark blue microphone, carry it around the glossy yellow trophy with base with 0.10m clearance, then hand over.",
+    "Have the left arm grasp the microphone covered with foam tip, avoid the trophy cup by 0.10m, and transfer the microphone covered with foam tip to the right arm.",
+    "With the left arm, grasp the microphone with smooth gray stem, then hand the microphone with smooth gray stem to the right arm, avoiding the golden award with orange edges.",
+    "Use the left arm to lift the medium microphone with two-tone color, then give the medium microphone with two-tone color to the right arm, avoiding the decorative trophy with curved handles by 0.10m.",
+    "Pick up the microphone with smooth gray stem using the left arm, transfer to the right arm, keep 0.10m from the trophy cup.",
+    "Using the left arm, grab the gray and dark blue microphone, keep 0.10m from the two-handled prize trophy, then give the gray and dark blue microphone to the right arm.",
+    "Take the medium microphone with two-tone color with the left arm, route it away from the award cup with orange highlights, then hand it to the right arm.",
+    "Have the left arm take the microphone with round foam head, then the right arm takes the microphone with round foam head, keep 0.10m from the golden trophy.",
+    "Pick up the dark blue microphone, move it staying 0.10m from the golden award with orange edges, then complete the handoff.",
+    "Lift the microphone with dark blue padding, keep it 0.10m away from the smooth gold cup-shaped trophy, then pass it across.",
+    "Move the microphone with dark blue padding from the left arm to the right arm while keeping clear of the decorative trophy with curved handles.",
+    "Secure the microphone with smooth gray stem, route it at least 0.10m from the glossy yellow trophy with base, then hand it over.",
+    "Pick up the gray stem microphone with foam top with the left arm, transfer to the right arm, stay away from the smooth gold cup-shaped trophy.",
+    "Lift the microphone with dark blue padding with the left arm, give the microphone with dark blue padding to the right arm, keep clear of the two-handled prize trophy 0.10m.",
+    "Take the small audio microphone with the left arm, hand over to the right arm, keep the small audio microphone 0.10m away from the medium-sized yellow trophy.",
+    "Using the left arm, take the microphone covered with foam tip and hand to the right arm, keeping 0.10m from the golden trophy.",
+    "Let the left arm grasp the microphone with smooth gray stem, move it 0.10m from the award cup with orange highlights, then the right arm receives.",
+    "Take the round head microphone using the left arm, keep away from the trophy cup, and pass to the right arm.",
+    "Get the microphone for recording sound with the left arm, shift the microphone for recording sound to the right arm, maintaining 0.10m from the award cup with orange highlights.",
+    "With the left arm, take the microphone with dark blue padding, keep distance from the golden trophy, and give the microphone with dark blue padding to the right arm.",
+    "Grab the microphone with round foam head, carry it around the golden award with orange edges with 0.10m clearance, then hand over.",
+    "Have the left arm grasp the small audio microphone, avoid the golden trophy by 0.10m, and transfer the small audio microphone to the right arm.",
+    "With the left arm, grasp the small audio microphone, then hand the small audio microphone to the right arm, avoiding the golden trophy.",
+    "Use the left arm to lift the microphone with smooth gray stem, then give the microphone with smooth gray stem to the right arm, avoiding the medium-sized yellow trophy by 0.10m.",
+    "Pick up the microphone with smooth gray stem using the left arm, transfer to the right arm, keep 0.10m from the award cup with orange highlights.",
+    "Using the left arm, grab the gray and dark blue microphone, keep 0.10m from the two-handled prize trophy, then give the gray and dark blue microphone to the right arm.",
+    "Take the dark blue microphone with the left arm, route it away from the gold cup with handles, then hand it to the right arm.",
+    "Have the left arm take the dark blue microphone, then the right arm takes the dark blue microphone, keep 0.10m from the two-handled prize trophy.",
+    "Pick up the microphone with dark blue padding, move it staying 0.10m from the shiny golden prize trophy, then complete the handoff.",
+    "Lift the small audio microphone, keep it 0.10m away from the decorative trophy with curved handles, then pass it across.",
+    "Move the microphone covered with foam tip from the left arm to the right arm while keeping clear of the medium-sized yellow trophy.",
+    "Secure the microphone for recording sound, route it at least 0.10m from the medium-sized yellow trophy, then hand it over.",
+    "Pick up the gray stem microphone with foam top with the left arm, transfer to the right arm, stay away from the glossy yellow trophy with base.",
+    "Lift the small audio microphone with the left arm, give the small audio microphone to the right arm, keep clear of the golden trophy 0.10m.",
+    "Take the medium microphone with two-tone color with the left arm, hand over to the right arm, keep the medium microphone with two-tone color 0.10m away from the award cup with orange highlights.",
+    "Using the left arm, take the gray stem microphone with foam top and hand to the right arm, keeping 0.10m from the trophy cup.",
+    "Let the left arm grasp the gray stem microphone with foam top, move it 0.10m from the medium-sized yellow trophy, then the right arm receives.",
+    "Take the microphone with smooth gray stem using the left arm, keep away from the medium-sized yellow trophy, and pass to the right arm.",
+    "Get the round head microphone with the left arm, shift the round head microphone to the right arm, maintaining 0.10m from the smooth gold cup-shaped trophy."
+  ],
+  "unseen": [
+    "Grab the handheld microphone with the left arm, hand it to the right arm, avoiding the yellow cup with round stand by 0.10m.",
+    "With the left arm, grab the handheld microphone, pass to the right arm, keeping the handheld microphone 0.10m from the golden trophy with round base.",
+    "Pick up the microphone with cylindrical handle, avoid the golden trophy with round base by 0.10m, pass the microphone with cylindrical handle from the left arm to the right arm.",
+    "Grab the handheld microphone with the left arm, keep 0.10m from the golden trophy with round base, hand to the right arm.",
+    "Use the left arm to grab the handheld microphone, pass to the right arm, keep the handheld microphone 0.10m from the hand-sized shiny gold trophy.",
+    "Use the left arm to grab the microphone with cylindrical handle, then pass it to the right arm, avoiding the yellow cup with round stand.",
+    "Grab the compact microphone with two parts with the left arm, hand it to the right arm, avoiding the golden trophy with round base by 0.10m.",
+    "With the left arm, grab the compact microphone with two parts, pass to the right arm, keeping the compact microphone with two parts 0.10m from the golden trophy with round base.",
+    "Pick up the compact microphone with two parts, avoid the hand-sized shiny gold trophy by 0.10m, pass the compact microphone with two parts from the left arm to the right arm.",
+    "Grab the microphone with cylindrical handle with the left arm, keep 0.10m from the yellow cup with round stand, hand to the right arm.",
+    "Use the left arm to grab the microphone with cylindrical handle, pass to the right arm, keep the microphone with cylindrical handle 0.10m from the yellow cup with round stand.",
+    "Use the left arm to grab the handheld microphone, then pass it to the right arm, avoiding the golden trophy with round base.",
+    "Grab the compact microphone with two parts with the left arm, hand it to the right arm, avoiding the hand-sized shiny gold trophy by 0.10m.",
+    "With the left arm, grab the handheld microphone, pass to the right arm, keeping the handheld microphone 0.10m from the golden trophy with round base.",
+    "Pick up the microphone with cylindrical handle, avoid the hand-sized shiny gold trophy by 0.10m, pass the microphone with cylindrical handle from the left arm to the right arm.",
+    "Grab the compact microphone with two parts with the left arm, keep 0.10m from the hand-sized shiny gold trophy, hand to the right arm.",
+    "Use the left arm to grab the handheld microphone, pass to the right arm, keep the handheld microphone 0.10m from the yellow cup with round stand.",
+    "Use the left arm to grab the compact microphone with two parts, then pass it to the right arm, avoiding the yellow cup with round stand.",
+    "Grab the compact microphone with two parts with the left arm, hand it to the right arm, avoiding the hand-sized shiny gold trophy by 0.10m.",
+    "With the left arm, grab the microphone with cylindrical handle, pass to the right arm, keeping the microphone with cylindrical handle 0.10m from the hand-sized shiny gold trophy.",
+    "Pick up the microphone with cylindrical handle, avoid the hand-sized shiny gold trophy by 0.10m, pass the microphone with cylindrical handle from the left arm to the right arm.",
+    "Grab the microphone with cylindrical handle with the left arm, keep 0.10m from the hand-sized shiny gold trophy, hand to the right arm.",
+    "Use the left arm to grab the compact microphone with two parts, pass to the right arm, keep the compact microphone with two parts 0.10m from the yellow cup with round stand.",
+    "Use the left arm to grab the microphone with cylindrical handle, then pass it to the right arm, avoiding the golden trophy with round base.",
+    "Grab the handheld microphone with the left arm, hand it to the right arm, avoiding the yellow cup with round stand by 0.10m.",
+    "With the left arm, grab the handheld microphone, pass to the right arm, keeping the handheld microphone 0.10m from the hand-sized shiny gold trophy.",
+    "Pick up the compact microphone with two parts, avoid the golden trophy with round base by 0.10m, pass the compact microphone with two parts from the left arm to the right arm.",
+    "Grab the microphone with cylindrical handle with the left arm, keep 0.10m from the yellow cup with round stand, hand to the right arm.",
+    "Use the left arm to grab the compact microphone with two parts, pass to the right arm, keep the compact microphone with two parts 0.10m from the yellow cup with round stand.",
+    "Use the left arm to grab the handheld microphone, then pass it to the right arm, avoiding the yellow cup with round stand.",
+    "Grab the handheld microphone with the left arm, hand it to the right arm, avoiding the hand-sized shiny gold trophy by 0.10m.",
+    "With the left arm, grab the handheld microphone, pass to the right arm, keeping the handheld microphone 0.10m from the yellow cup with round stand.",
+    "Pick up the handheld microphone, avoid the yellow cup with round stand by 0.10m, pass the handheld microphone from the left arm to the right arm.",
+    "Grab the compact microphone with two parts with the left arm, keep 0.10m from the yellow cup with round stand, hand to the right arm.",
+    "Use the left arm to grab the handheld microphone, pass to the right arm, keep the handheld microphone 0.10m from the golden trophy with round base.",
+    "Use the left arm to grab the handheld microphone, then pass it to the right arm, avoiding the yellow cup with round stand.",
+    "Grab the microphone with cylindrical handle with the left arm, hand it to the right arm, avoiding the golden trophy with round base by 0.10m.",
+    "With the left arm, grab the microphone with cylindrical handle, pass to the right arm, keeping the microphone with cylindrical handle 0.10m from the yellow cup with round stand.",
+    "Pick up the handheld microphone, avoid the hand-sized shiny gold trophy by 0.10m, pass the handheld microphone from the left arm to the right arm.",
+    "Grab the compact microphone with two parts with the left arm, keep 0.10m from the yellow cup with round stand, hand to the right arm.",
+    "Use the left arm to grab the microphone with cylindrical handle, pass to the right arm, keep the microphone with cylindrical handle 0.10m from the yellow cup with round stand.",
+    "Use the left arm to grab the microphone with cylindrical handle, then pass it to the right arm, avoiding the hand-sized shiny gold trophy.",
+    "Grab the compact microphone with two parts with the left arm, hand it to the right arm, avoiding the golden trophy with round base by 0.10m.",
+    "With the left arm, grab the compact microphone with two parts, pass to the right arm, keeping the compact microphone with two parts 0.10m from the hand-sized shiny gold trophy.",
+    "Pick up the compact microphone with two parts, avoid the yellow cup with round stand by 0.10m, pass the compact microphone with two parts from the left arm to the right arm.",
+    "Grab the compact microphone with two parts with the left arm, keep 0.10m from the golden trophy with round base, hand to the right arm.",
+    "Use the left arm to grab the handheld microphone, pass to the right arm, keep the handheld microphone 0.10m from the golden trophy with round base.",
+    "Use the left arm to grab the microphone with cylindrical handle, then pass it to the right arm, avoiding the golden trophy with round base.",
+    "Grab the handheld microphone with the left arm, hand it to the right arm, avoiding the hand-sized shiny gold trophy by 0.10m.",
+    "With the left arm, grab the compact microphone with two parts, pass to the right arm, keeping the compact microphone with two parts 0.10m from the yellow cup with round stand.",
+    "Pick up the microphone with cylindrical handle, avoid the hand-sized shiny gold trophy by 0.10m, pass the microphone with cylindrical handle from the left arm to the right arm.",
+    "Grab the handheld microphone with the left arm, keep 0.10m from the yellow cup with round stand, hand to the right arm.",
+    "Use the left arm to grab the handheld microphone, pass to the right arm, keep the handheld microphone 0.10m from the yellow cup with round stand.",
+    "Use the left arm to grab the handheld microphone, then pass it to the right arm, avoiding the yellow cup with round stand.",
+    "Grab the compact microphone with two parts with the left arm, hand it to the right arm, avoiding the yellow cup with round stand by 0.10m.",
+    "With the left arm, grab the compact microphone with two parts, pass to the right arm, keeping the compact microphone with two parts 0.10m from the yellow cup with round stand.",
+    "Pick up the microphone with cylindrical handle, avoid the hand-sized shiny gold trophy by 0.10m, pass the microphone with cylindrical handle from the left arm to the right arm.",
+    "Grab the compact microphone with two parts with the left arm, keep 0.10m from the golden trophy with round base, hand to the right arm.",
+    "Use the left arm to grab the microphone with cylindrical handle, pass to the right arm, keep the microphone with cylindrical handle 0.10m from the hand-sized shiny gold trophy.",
+    "Use the left arm to grab the handheld microphone, then pass it to the right arm, avoiding the golden trophy with round base.",
+    "Grab the compact microphone with two parts with the left arm, hand it to the right arm, avoiding the golden trophy with round base by 0.10m.",
+    "With the left arm, grab the handheld microphone, pass to the right arm, keeping the handheld microphone 0.10m from the yellow cup with round stand.",
+    "Pick up the handheld microphone, avoid the hand-sized shiny gold trophy by 0.10m, pass the handheld microphone from the left arm to the right arm.",
+    "Grab the compact microphone with two parts with the left arm, keep 0.10m from the golden trophy with round base, hand to the right arm.",
+    "Use the left arm to grab the handheld microphone, pass to the right arm, keep the handheld microphone 0.10m from the golden trophy with round base.",
+    "Use the left arm to grab the microphone with cylindrical handle, then pass it to the right arm, avoiding the yellow cup with round stand.",
+    "Grab the compact microphone with two parts with the left arm, hand it to the right arm, avoiding the yellow cup with round stand by 0.10m.",
+    "With the left arm, grab the handheld microphone, pass to the right arm, keeping the handheld microphone 0.10m from the hand-sized shiny gold trophy.",
+    "Pick up the compact microphone with two parts, avoid the hand-sized shiny gold trophy by 0.10m, pass the compact microphone with two parts from the left arm to the right arm.",
+    "Grab the compact microphone with two parts with the left arm, keep 0.10m from the yellow cup with round stand, hand to the right arm.",
+    "Use the left arm to grab the microphone with cylindrical handle, pass to the right arm, keep the microphone with cylindrical handle 0.10m from the hand-sized shiny gold trophy.",
+    "Use the left arm to grab the microphone with cylindrical handle, then pass it to the right arm, avoiding the golden trophy with round base.",
+    "Grab the microphone with cylindrical handle with the left arm, hand it to the right arm, avoiding the yellow cup with round stand by 0.10m.",
+    "With the left arm, grab the microphone with cylindrical handle, pass to the right arm, keeping the microphone with cylindrical handle 0.10m from the hand-sized shiny gold trophy.",
+    "Pick up the compact microphone with two parts, avoid the golden trophy with round base by 0.10m, pass the compact microphone with two parts from the left arm to the right arm.",
+    "Grab the handheld microphone with the left arm, keep 0.10m from the golden trophy with round base, hand to the right arm.",
+    "Use the left arm to grab the handheld microphone, pass to the right arm, keep the handheld microphone 0.10m from the golden trophy with round base.",
+    "Use the left arm to grab the compact microphone with two parts, then pass it to the right arm, avoiding the yellow cup with round stand.",
+    "Grab the compact microphone with two parts with the left arm, hand it to the right arm, avoiding the yellow cup with round stand by 0.10m.",
+    "With the left arm, grab the handheld microphone, pass to the right arm, keeping the handheld microphone 0.10m from the hand-sized shiny gold trophy.",
+    "Pick up the compact microphone with two parts, avoid the yellow cup with round stand by 0.10m, pass the compact microphone with two parts from the left arm to the right arm.",
+    "Grab the microphone with cylindrical handle with the left arm, keep 0.10m from the golden trophy with round base, hand to the right arm.",
+    "Use the left arm to grab the handheld microphone, pass to the right arm, keep the handheld microphone 0.10m from the golden trophy with round base.",
+    "Use the left arm to grab the handheld microphone, then pass it to the right arm, avoiding the golden trophy with round base.",
+    "Grab the compact microphone with two parts with the left arm, hand it to the right arm, avoiding the golden trophy with round base by 0.10m.",
+    "With the left arm, grab the compact microphone with two parts, pass to the right arm, keeping the compact microphone with two parts 0.10m from the yellow cup with round stand.",
+    "Pick up the compact microphone with two parts, avoid the golden trophy with round base by 0.10m, pass the compact microphone with two parts from the left arm to the right arm.",
+    "Grab the microphone with cylindrical handle with the left arm, keep 0.10m from the yellow cup with round stand, hand to the right arm.",
+    "Use the left arm to grab the compact microphone with two parts, pass to the right arm, keep the compact microphone with two parts 0.10m from the hand-sized shiny gold trophy.",
+    "Use the left arm to grab the handheld microphone, then pass it to the right arm, avoiding the hand-sized shiny gold trophy.",
+    "Grab the microphone with cylindrical handle with the left arm, hand it to the right arm, avoiding the hand-sized shiny gold trophy by 0.10m.",
+    "With the left arm, grab the compact microphone with two parts, pass to the right arm, keeping the compact microphone with two parts 0.10m from the hand-sized shiny gold trophy.",
+    "Pick up the microphone with cylindrical handle, avoid the golden trophy with round base by 0.10m, pass the microphone with cylindrical handle from the left arm to the right arm.",
+    "Grab the handheld microphone with the left arm, keep 0.10m from the yellow cup with round stand, hand to the right arm.",
+    "Use the left arm to grab the compact microphone with two parts, pass to the right arm, keep the compact microphone with two parts 0.10m from the golden trophy with round base.",
+    "Use the left arm to grab the microphone with cylindrical handle, then pass it to the right arm, avoiding the hand-sized shiny gold trophy.",
+    "Grab the handheld microphone with the left arm, hand it to the right arm, avoiding the hand-sized shiny gold trophy by 0.10m.",
+    "With the left arm, grab the microphone with cylindrical handle, pass to the right arm, keeping the microphone with cylindrical handle 0.10m from the yellow cup with round stand.",
+    "Pick up the microphone with cylindrical handle, avoid the golden trophy with round base by 0.10m, pass the microphone with cylindrical handle from the left arm to the right arm.",
+    "Grab the handheld microphone with the left arm, keep 0.10m from the yellow cup with round stand, hand to the right arm."
+  ]
+}
\ No newline at end of file
diff --git a/handover_mic_wp1/handover_mic_wp1/instructions/episode29.json b/handover_mic_wp1/handover_mic_wp1/instructions/episode29.json
new file mode 100644
index 0000000000000000000000000000000000000000..46dbf621c1be0bfe0b8fc4b81c54897828469f4d
--- /dev/null
+++ b/handover_mic_wp1/handover_mic_wp1/instructions/episode29.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Secure the rounded white tip microphone, route it at least 0.10m from the smooth metallic cup with flat bottom, then hand it over.",
+    "Let the right arm grasp the white bottom microphone with textured tip, move it 0.10m from the shiny trophy for winning competitions, then the left arm receives.",
+    "With the right arm, take the plastic teal microphone with slider, keep distance from the shiny trophy for winning competitions, and give the plastic teal microphone with slider to the left arm.",
+    "Using the right arm, take the white bottom microphone with textured tip and hand to the left arm, keeping 0.10m from the smooth metallic cup with flat bottom.",
+    "Have the right arm grasp the white bottom microphone with textured tip, avoid the tall yellow trophy with small neck by 0.10m, and transfer the white bottom microphone with textured tip to the left arm.",
+    "Take the textured white microphone head with the right arm, route it away from the golden yellow cup-shaped prize trophy, then hand it to the left arm.",
+    "Get the sound microphone with teal body with the right arm, shift the sound microphone with teal body to the left arm, maintaining 0.10m from the golden yellow cup-shaped prize trophy.",
+    "Pick up the microphone with slider switch with the right arm, transfer to the left arm, stay away from the award trophy with two handles.",
+    "Move the sound microphone with teal body from the right arm to the left arm while keeping clear of the tall award trophy with glossy surface.",
+    "With the right arm, grasp the microphone with slider switch, then hand the microphone with slider switch to the left arm, avoiding the shiny trophy for winning competitions.",
+    "Using the right arm, grab the handheld teal microphone, keep 0.10m from the golden yellow cup-shaped prize trophy, then give the handheld teal microphone to the left arm.",
+    "Lift the microphone with white rounded head with the right arm, give the microphone with white rounded head to the left arm, keep clear of the metallic yellow cup-shaped trophy 0.10m.",
+    "Have the right arm take the compact teal and white microphone, then the left arm takes the compact teal and white microphone, keep 0.10m from the golden cup with curved handles.",
+    "Grab the teal microphone, carry it around the tall award trophy with glossy surface with 0.10m clearance, then hand over.",
+    "Take the textured white microphone head with the right arm, hand over to the left arm, keep the textured white microphone head 0.10m away from the tall award trophy with glossy surface.",
+    "Lift the textured white microphone head, keep it 0.10m away from the golden cup with curved handles, then pass it across.",
+    "Pick up the textured white microphone head using the right arm, transfer to the left arm, keep 0.10m from the golden trophy.",
+    "Take the handheld teal microphone using the right arm, keep away from the tall yellow trophy with small neck, and pass to the left arm.",
+    "Pick up the long microphone with smooth teal grip, move it staying 0.10m from the achievement cup with curved side handles, then complete the handoff.",
+    "Use the right arm to lift the white bottom microphone with textured tip, then give the white bottom microphone with textured tip to the left arm, avoiding the golden trophy by 0.10m.",
+    "Secure the textured white microphone head, route it at least 0.10m from the tall award trophy with glossy surface, then hand it over.",
+    "Let the right arm grasp the sound microphone with teal body, move it 0.10m from the shiny trophy for winning competitions, then the left arm receives.",
+    "With the right arm, take the microphone with white rounded head, keep distance from the shiny trophy for winning competitions, and give the microphone with white rounded head to the left arm.",
+    "Using the right arm, take the plastic teal microphone with slider and hand to the left arm, keeping 0.10m from the golden cup with curved handles.",
+    "Have the right arm grasp the textured white microphone head, avoid the shiny yellow trophy by 0.10m, and transfer the textured white microphone head to the left arm.",
+    "Take the microphone with white rounded head with the right arm, route it away from the golden cup with curved handles, then hand it to the left arm.",
+    "Get the teal microphone with the right arm, shift the teal microphone to the left arm, maintaining 0.10m from the tall yellow trophy with small neck.",
+    "Pick up the sound microphone with teal body with the right arm, transfer to the left arm, stay away from the tall award trophy with glossy surface.",
+    "Move the white bottom microphone with textured tip from the right arm to the left arm while keeping clear of the smooth metallic cup with flat bottom.",
+    "With the right arm, grasp the textured white microphone head, then hand the textured white microphone head to the left arm, avoiding the achievement cup with curved side handles.",
+    "Using the right arm, grab the white bottom microphone with textured tip, keep 0.10m from the shiny trophy for winning competitions, then give the white bottom microphone with textured tip to the left arm.",
+    "Lift the rounded white tip microphone with the right arm, give the rounded white tip microphone to the left arm, keep clear of the shiny trophy for winning competitions 0.10m.",
+    "Have the right arm take the microphone with slider switch, then the left arm takes the microphone with slider switch, keep 0.10m from the shiny trophy for winning competitions.",
+    "Grab the plastic teal microphone with slider, carry it around the golden trophy with 0.10m clearance, then hand over.",
+    "Take the plastic teal microphone with slider with the right arm, hand over to the left arm, keep the plastic teal microphone with slider 0.10m away from the smooth metallic cup with flat bottom.",
+    "Lift the white bottom microphone with textured tip, keep it 0.10m away from the metallic yellow cup-shaped trophy, then pass it across.",
+    "Pick up the handheld teal microphone using the right arm, transfer to the left arm, keep 0.10m from the golden yellow cup-shaped prize trophy.",
+    "Take the microphone with white rounded head using the right arm, keep away from the achievement cup with curved side handles, and pass to the left arm.",
+    "Pick up the microphone with white rounded head, move it staying 0.10m from the metallic yellow cup-shaped trophy, then complete the handoff.",
+    "Use the right arm to lift the microphone with white rounded head, then give the microphone with white rounded head to the left arm, avoiding the award trophy with two handles by 0.10m.",
+    "Secure the textured white microphone head, route it at least 0.10m from the shiny trophy for winning competitions, then hand it over.",
+    "Let the right arm grasp the microphone with slider switch, move it 0.10m from the shiny trophy for winning competitions, then the left arm receives.",
+    "With the right arm, take the rounded white tip microphone, keep distance from the achievement cup with curved side handles, and give the rounded white tip microphone to the left arm.",
+    "Using the right arm, take the handheld teal microphone and hand to the left arm, keeping 0.10m from the achievement cup with curved side handles.",
+    "Have the right arm grasp the sound microphone with teal body, avoid the trophy with sleek golden finish by 0.10m, and transfer the sound microphone with teal body to the left arm.",
+    "Take the handheld teal microphone with the right arm, route it away from the trophy with sleek golden finish, then hand it to the left arm.",
+    "Get the plastic teal microphone with slider with the right arm, shift the plastic teal microphone with slider to the left arm, maintaining 0.10m from the shiny trophy for winning competitions.",
+    "Pick up the white and teal sound microphone with the right arm, transfer to the left arm, stay away from the golden cup with curved handles.",
+    "Move the sound microphone with teal body from the right arm to the left arm while keeping clear of the golden cup with curved handles.",
+    "With the right arm, grasp the white bottom microphone with textured tip, then hand the white bottom microphone with textured tip to the left arm, avoiding the trophy with sleek golden finish.",
+    "Using the right arm, grab the textured white microphone head, keep 0.10m from the achievement cup with curved side handles, then give the textured white microphone head to the left arm.",
+    "Lift the compact teal and white microphone with the right arm, give the compact teal and white microphone to the left arm, keep clear of the golden cup with curved handles 0.10m.",
+    "Have the right arm take the rounded white tip microphone, then the left arm takes the rounded white tip microphone, keep 0.10m from the award trophy with two handles.",
+    "Grab the sound microphone with teal body, carry it around the shiny yellow trophy with 0.10m clearance, then hand over.",
+    "Take the textured white microphone head with the right arm, hand over to the left arm, keep the textured white microphone head 0.10m away from the smooth metallic cup with flat bottom.",
+    "Lift the handheld teal microphone, keep it 0.10m away from the shiny trophy for winning competitions, then pass it across.",
+    "Pick up the handheld teal microphone using the right arm, transfer to the left arm, keep 0.10m from the achievement cup with curved side handles.",
+    "Take the teal microphone using the right arm, keep away from the achievement cup with curved side handles, and pass to the left arm.",
+    "Pick up the handheld teal microphone, move it staying 0.10m from the shiny trophy for winning competitions, then complete the handoff.",
+    "Use the right arm to lift the microphone with white rounded head, then give the microphone with white rounded head to the left arm, avoiding the smooth metallic cup with flat bottom by 0.10m.",
+    "Secure the microphone with slider switch, route it at least 0.10m from the golden trophy, then hand it over.",
+    "Let the right arm grasp the compact teal and white microphone, move it 0.10m from the metallic yellow cup-shaped trophy, then the left arm receives.",
+    "With the right arm, take the sound microphone with teal body, keep distance from the golden cup with curved handles, and give the sound microphone with teal body to the left arm.",
+    "Using the right arm, take the rounded white tip microphone and hand to the left arm, keeping 0.10m from the golden yellow cup-shaped prize trophy.",
+    "Have the right arm grasp the plastic teal microphone with slider, avoid the metallic yellow cup-shaped trophy by 0.10m, and transfer the plastic teal microphone with slider to the left arm.",
+    "Take the rounded white tip microphone with the right arm, route it away from the award trophy with two handles, then hand it to the left arm.",
+    "Get the long microphone with smooth teal grip with the right arm, shift the long microphone with smooth teal grip to the left arm, maintaining 0.10m from the shiny yellow trophy.",
+    "Pick up the textured white microphone head with the right arm, transfer to the left arm, stay away from the golden trophy.",
+    "Move the plastic teal microphone with slider from the right arm to the left arm while keeping clear of the tall award trophy with glossy surface.",
+    "With the right arm, grasp the long microphone with smooth teal grip, then hand the long microphone with smooth teal grip to the left arm, avoiding the golden yellow cup-shaped prize trophy.",
+    "Using the right arm, grab the plastic teal microphone with slider, keep 0.10m from the shiny yellow trophy, then give the plastic teal microphone with slider to the left arm.",
+    "Lift the white bottom microphone with textured tip with the right arm, give the white bottom microphone with textured tip to the left arm, keep clear of the tall yellow trophy with small neck 0.10m.",
+    "Have the right arm take the teal microphone, then the left arm takes the teal microphone, keep 0.10m from the achievement cup with curved side handles.",
+    "Grab the handheld teal microphone, carry it around the achievement cup with curved side handles with 0.10m clearance, then hand over.",
+    "Take the white bottom microphone with textured tip with the right arm, hand over to the left arm, keep the white bottom microphone with textured tip 0.10m away from the golden trophy.",
+    "Lift the microphone with slider switch, keep it 0.10m away from the tall award trophy with glossy surface, then pass it across.",
+    "Pick up the compact teal and white microphone using the right arm, transfer to the left arm, keep 0.10m from the golden yellow cup-shaped prize trophy.",
+    "Take the rounded white tip microphone using the right arm, keep away from the shiny trophy for winning competitions, and pass to the left arm.",
+    "Pick up the long microphone with smooth teal grip, move it staying 0.10m from the shiny yellow trophy, then complete the handoff.",
+    "Use the right arm to lift the plastic teal microphone with slider, then give the plastic teal microphone with slider to the left arm, avoiding the shiny yellow trophy by 0.10m.",
+    "Secure the rounded white tip microphone, route it at least 0.10m from the award trophy with two handles, then hand it over.",
+    "Let the right arm grasp the white bottom microphone with textured tip, move it 0.10m from the tall yellow trophy with small neck, then the left arm receives.",
+    "With the right arm, take the handheld teal microphone, keep distance from the tall yellow trophy with small neck, and give the handheld teal microphone to the left arm.",
+    "Using the right arm, take the white and teal sound microphone and hand to the left arm, keeping 0.10m from the golden cup with curved handles.",
+    "Have the right arm grasp the microphone with white rounded head, avoid the tall award trophy with glossy surface by 0.10m, and transfer the microphone with white rounded head to the left arm.",
+    "Take the plastic teal microphone with slider with the right arm, route it away from the shiny yellow trophy, then hand it to the left arm.",
+    "Get the handheld teal microphone with the right arm, shift the handheld teal microphone to the left arm, maintaining 0.10m from the achievement cup with curved side handles.",
+    "Pick up the sound microphone with teal body with the right arm, transfer to the left arm, stay away from the golden cup with curved handles.",
+    "Move the teal microphone from the right arm to the left arm while keeping clear of the golden yellow cup-shaped prize trophy.",
+    "With the right arm, grasp the white bottom microphone with textured tip, then hand the white bottom microphone with textured tip to the left arm, avoiding the tall yellow trophy with small neck.",
+    "Using the right arm, grab the compact teal and white microphone, keep 0.10m from the trophy with sleek golden finish, then give the compact teal and white microphone to the left arm.",
+    "Lift the microphone with slider switch with the right arm, give the microphone with slider switch to the left arm, keep clear of the shiny trophy for winning competitions 0.10m.",
+    "Have the right arm take the long microphone with smooth teal grip, then the left arm takes the long microphone with smooth teal grip, keep 0.10m from the golden trophy.",
+    "Grab the teal microphone, carry it around the golden yellow cup-shaped prize trophy with 0.10m clearance, then hand over.",
+    "Take the sound microphone with teal body with the right arm, hand over to the left arm, keep the sound microphone with teal body 0.10m away from the trophy with sleek golden finish.",
+    "Lift the rounded white tip microphone, keep it 0.10m away from the smooth metallic cup with flat bottom, then pass it across.",
+    "Pick up the rounded white tip microphone using the right arm, transfer to the left arm, keep 0.10m from the golden cup with curved handles.",
+    "Take the sound microphone with teal body using the right arm, keep away from the tall award trophy with glossy surface, and pass to the left arm.",
+    "Pick up the teal microphone, move it staying 0.10m from the shiny yellow trophy, then complete the handoff.",
+    "Use the right arm to lift the plastic teal microphone with slider, then give the plastic teal microphone with slider to the left arm, avoiding the smooth metallic cup with flat bottom by 0.10m."
+  ],
+  "unseen": [
+    "Use the right arm to grab the switchable microphone with teal body, then pass it to the left arm, avoiding the smooth trophy with wide base.",
+    "With the right arm, grab the long teal microphone with white grooves, pass to the left arm, keeping the long teal microphone with white grooves 0.10m from the prize trophy with sturdy round base.",
+    "Use the right arm to grab the teal microphone with white bottom, pass to the left arm, keep the teal microphone with white bottom 0.10m from the smooth trophy with wide base.",
+    "Grab the teal microphone with white bottom with the right arm, hand it to the left arm, avoiding the smooth trophy with wide base by 0.10m.",
+    "Grab the long teal microphone with white grooves with the right arm, keep 0.10m from the medium-sized golden prize cup, hand to the left arm.",
+    "Pick up the switchable microphone with teal body, avoid the medium-sized golden prize cup by 0.10m, pass the switchable microphone with teal body from the right arm to the left arm.",
+    "Use the right arm to grab the long teal microphone with white grooves, then pass it to the left arm, avoiding the smooth trophy with wide base.",
+    "With the right arm, grab the long teal microphone with white grooves, pass to the left arm, keeping the long teal microphone with white grooves 0.10m from the smooth trophy with wide base.",
+    "Use the right arm to grab the teal microphone with white bottom, pass to the left arm, keep the teal microphone with white bottom 0.10m from the prize trophy with sturdy round base.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the smooth trophy with wide base by 0.10m.",
+    "Grab the long teal microphone with white grooves with the right arm, keep 0.10m from the smooth trophy with wide base, hand to the left arm.",
+    "Pick up the teal microphone with white bottom, avoid the smooth trophy with wide base by 0.10m, pass the teal microphone with white bottom from the right arm to the left arm.",
+    "Use the right arm to grab the teal microphone with white bottom, then pass it to the left arm, avoiding the medium-sized golden prize cup.",
+    "With the right arm, grab the switchable microphone with teal body, pass to the left arm, keeping the switchable microphone with teal body 0.10m from the smooth trophy with wide base.",
+    "Use the right arm to grab the teal microphone with white bottom, pass to the left arm, keep the teal microphone with white bottom 0.10m from the prize trophy with sturdy round base.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the prize trophy with sturdy round base by 0.10m.",
+    "Grab the teal microphone with white bottom with the right arm, keep 0.10m from the smooth trophy with wide base, hand to the left arm.",
+    "Pick up the teal microphone with white bottom, avoid the medium-sized golden prize cup by 0.10m, pass the teal microphone with white bottom from the right arm to the left arm.",
+    "Use the right arm to grab the teal microphone with white bottom, then pass it to the left arm, avoiding the prize trophy with sturdy round base.",
+    "With the right arm, grab the switchable microphone with teal body, pass to the left arm, keeping the switchable microphone with teal body 0.10m from the smooth trophy with wide base.",
+    "Use the right arm to grab the switchable microphone with teal body, pass to the left arm, keep the switchable microphone with teal body 0.10m from the medium-sized golden prize cup.",
+    "Grab the long teal microphone with white grooves with the right arm, hand it to the left arm, avoiding the medium-sized golden prize cup by 0.10m.",
+    "Grab the long teal microphone with white grooves with the right arm, keep 0.10m from the medium-sized golden prize cup, hand to the left arm.",
+    "Pick up the teal microphone with white bottom, avoid the medium-sized golden prize cup by 0.10m, pass the teal microphone with white bottom from the right arm to the left arm.",
+    "Use the right arm to grab the teal microphone with white bottom, then pass it to the left arm, avoiding the medium-sized golden prize cup.",
+    "With the right arm, grab the long teal microphone with white grooves, pass to the left arm, keeping the long teal microphone with white grooves 0.10m from the prize trophy with sturdy round base.",
+    "Use the right arm to grab the long teal microphone with white grooves, pass to the left arm, keep the long teal microphone with white grooves 0.10m from the medium-sized golden prize cup.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the medium-sized golden prize cup by 0.10m.",
+    "Grab the switchable microphone with teal body with the right arm, keep 0.10m from the smooth trophy with wide base, hand to the left arm.",
+    "Pick up the switchable microphone with teal body, avoid the medium-sized golden prize cup by 0.10m, pass the switchable microphone with teal body from the right arm to the left arm.",
+    "Use the right arm to grab the teal microphone with white bottom, then pass it to the left arm, avoiding the prize trophy with sturdy round base.",
+    "With the right arm, grab the teal microphone with white bottom, pass to the left arm, keeping the teal microphone with white bottom 0.10m from the smooth trophy with wide base.",
+    "Use the right arm to grab the switchable microphone with teal body, pass to the left arm, keep the switchable microphone with teal body 0.10m from the medium-sized golden prize cup.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the medium-sized golden prize cup by 0.10m.",
+    "Grab the teal microphone with white bottom with the right arm, keep 0.10m from the medium-sized golden prize cup, hand to the left arm.",
+    "Pick up the long teal microphone with white grooves, avoid the smooth trophy with wide base by 0.10m, pass the long teal microphone with white grooves from the right arm to the left arm.",
+    "Use the right arm to grab the teal microphone with white bottom, then pass it to the left arm, avoiding the prize trophy with sturdy round base.",
+    "With the right arm, grab the long teal microphone with white grooves, pass to the left arm, keeping the long teal microphone with white grooves 0.10m from the smooth trophy with wide base.",
+    "Use the right arm to grab the long teal microphone with white grooves, pass to the left arm, keep the long teal microphone with white grooves 0.10m from the smooth trophy with wide base.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the prize trophy with sturdy round base by 0.10m.",
+    "Grab the teal microphone with white bottom with the right arm, keep 0.10m from the prize trophy with sturdy round base, hand to the left arm.",
+    "Pick up the long teal microphone with white grooves, avoid the prize trophy with sturdy round base by 0.10m, pass the long teal microphone with white grooves from the right arm to the left arm.",
+    "Use the right arm to grab the switchable microphone with teal body, then pass it to the left arm, avoiding the smooth trophy with wide base.",
+    "With the right arm, grab the teal microphone with white bottom, pass to the left arm, keeping the teal microphone with white bottom 0.10m from the smooth trophy with wide base.",
+    "Use the right arm to grab the long teal microphone with white grooves, pass to the left arm, keep the long teal microphone with white grooves 0.10m from the prize trophy with sturdy round base.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the prize trophy with sturdy round base by 0.10m.",
+    "Grab the teal microphone with white bottom with the right arm, keep 0.10m from the medium-sized golden prize cup, hand to the left arm.",
+    "Pick up the teal microphone with white bottom, avoid the smooth trophy with wide base by 0.10m, pass the teal microphone with white bottom from the right arm to the left arm.",
+    "Use the right arm to grab the switchable microphone with teal body, then pass it to the left arm, avoiding the medium-sized golden prize cup.",
+    "With the right arm, grab the long teal microphone with white grooves, pass to the left arm, keeping the long teal microphone with white grooves 0.10m from the medium-sized golden prize cup.",
+    "Use the right arm to grab the teal microphone with white bottom, pass to the left arm, keep the teal microphone with white bottom 0.10m from the prize trophy with sturdy round base.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the medium-sized golden prize cup by 0.10m.",
+    "Grab the teal microphone with white bottom with the right arm, keep 0.10m from the smooth trophy with wide base, hand to the left arm.",
+    "Pick up the long teal microphone with white grooves, avoid the smooth trophy with wide base by 0.10m, pass the long teal microphone with white grooves from the right arm to the left arm.",
+    "Use the right arm to grab the long teal microphone with white grooves, then pass it to the left arm, avoiding the smooth trophy with wide base.",
+    "With the right arm, grab the long teal microphone with white grooves, pass to the left arm, keeping the long teal microphone with white grooves 0.10m from the smooth trophy with wide base.",
+    "Use the right arm to grab the teal microphone with white bottom, pass to the left arm, keep the teal microphone with white bottom 0.10m from the smooth trophy with wide base.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the medium-sized golden prize cup by 0.10m.",
+    "Grab the teal microphone with white bottom with the right arm, keep 0.10m from the smooth trophy with wide base, hand to the left arm.",
+    "Pick up the teal microphone with white bottom, avoid the smooth trophy with wide base by 0.10m, pass the teal microphone with white bottom from the right arm to the left arm.",
+    "Use the right arm to grab the switchable microphone with teal body, then pass it to the left arm, avoiding the medium-sized golden prize cup.",
+    "With the right arm, grab the switchable microphone with teal body, pass to the left arm, keeping the switchable microphone with teal body 0.10m from the prize trophy with sturdy round base.",
+    "Use the right arm to grab the long teal microphone with white grooves, pass to the left arm, keep the long teal microphone with white grooves 0.10m from the prize trophy with sturdy round base.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the prize trophy with sturdy round base by 0.10m.",
+    "Grab the long teal microphone with white grooves with the right arm, keep 0.10m from the smooth trophy with wide base, hand to the left arm.",
+    "Pick up the long teal microphone with white grooves, avoid the medium-sized golden prize cup by 0.10m, pass the long teal microphone with white grooves from the right arm to the left arm.",
+    "Use the right arm to grab the teal microphone with white bottom, then pass it to the left arm, avoiding the medium-sized golden prize cup.",
+    "With the right arm, grab the teal microphone with white bottom, pass to the left arm, keeping the teal microphone with white bottom 0.10m from the medium-sized golden prize cup.",
+    "Use the right arm to grab the switchable microphone with teal body, pass to the left arm, keep the switchable microphone with teal body 0.10m from the medium-sized golden prize cup.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the prize trophy with sturdy round base by 0.10m.",
+    "Grab the long teal microphone with white grooves with the right arm, keep 0.10m from the prize trophy with sturdy round base, hand to the left arm.",
+    "Pick up the long teal microphone with white grooves, avoid the prize trophy with sturdy round base by 0.10m, pass the long teal microphone with white grooves from the right arm to the left arm.",
+    "Use the right arm to grab the switchable microphone with teal body, then pass it to the left arm, avoiding the prize trophy with sturdy round base.",
+    "With the right arm, grab the long teal microphone with white grooves, pass to the left arm, keeping the long teal microphone with white grooves 0.10m from the medium-sized golden prize cup.",
+    "Use the right arm to grab the teal microphone with white bottom, pass to the left arm, keep the teal microphone with white bottom 0.10m from the medium-sized golden prize cup.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the prize trophy with sturdy round base by 0.10m.",
+    "Grab the switchable microphone with teal body with the right arm, keep 0.10m from the prize trophy with sturdy round base, hand to the left arm.",
+    "Pick up the long teal microphone with white grooves, avoid the medium-sized golden prize cup by 0.10m, pass the long teal microphone with white grooves from the right arm to the left arm.",
+    "Use the right arm to grab the teal microphone with white bottom, then pass it to the left arm, avoiding the prize trophy with sturdy round base.",
+    "With the right arm, grab the teal microphone with white bottom, pass to the left arm, keeping the teal microphone with white bottom 0.10m from the smooth trophy with wide base.",
+    "Use the right arm to grab the switchable microphone with teal body, pass to the left arm, keep the switchable microphone with teal body 0.10m from the smooth trophy with wide base.",
+    "Grab the long teal microphone with white grooves with the right arm, hand it to the left arm, avoiding the medium-sized golden prize cup by 0.10m.",
+    "Grab the switchable microphone with teal body with the right arm, keep 0.10m from the prize trophy with sturdy round base, hand to the left arm.",
+    "Pick up the long teal microphone with white grooves, avoid the medium-sized golden prize cup by 0.10m, pass the long teal microphone with white grooves from the right arm to the left arm.",
+    "Use the right arm to grab the switchable microphone with teal body, then pass it to the left arm, avoiding the medium-sized golden prize cup.",
+    "With the right arm, grab the switchable microphone with teal body, pass to the left arm, keeping the switchable microphone with teal body 0.10m from the smooth trophy with wide base.",
+    "Use the right arm to grab the long teal microphone with white grooves, pass to the left arm, keep the long teal microphone with white grooves 0.10m from the medium-sized golden prize cup.",
+    "Grab the teal microphone with white bottom with the right arm, hand it to the left arm, avoiding the prize trophy with sturdy round base by 0.10m.",
+    "Grab the teal microphone with white bottom with the right arm, keep 0.10m from the prize trophy with sturdy round base, hand to the left arm.",
+    "Pick up the switchable microphone with teal body, avoid the smooth trophy with wide base by 0.10m, pass the switchable microphone with teal body from the right arm to the left arm.",
+    "Use the right arm to grab the teal microphone with white bottom, then pass it to the left arm, avoiding the medium-sized golden prize cup.",
+    "With the right arm, grab the long teal microphone with white grooves, pass to the left arm, keeping the long teal microphone with white grooves 0.10m from the prize trophy with sturdy round base.",
+    "Use the right arm to grab the switchable microphone with teal body, pass to the left arm, keep the switchable microphone with teal body 0.10m from the prize trophy with sturdy round base.",
+    "Grab the long teal microphone with white grooves with the right arm, hand it to the left arm, avoiding the medium-sized golden prize cup by 0.10m.",
+    "Grab the long teal microphone with white grooves with the right arm, keep 0.10m from the prize trophy with sturdy round base, hand to the left arm.",
+    "Pick up the long teal microphone with white grooves, avoid the smooth trophy with wide base by 0.10m, pass the long teal microphone with white grooves from the right arm to the left arm.",
+    "Use the right arm to grab the long teal microphone with white grooves, then pass it to the left arm, avoiding the smooth trophy with wide base.",
+    "With the right arm, grab the switchable microphone with teal body, pass to the left arm, keeping the switchable microphone with teal body 0.10m from the medium-sized golden prize cup.",
+    "Use the right arm to grab the long teal microphone with white grooves, pass to the left arm, keep the long teal microphone with white grooves 0.10m from the medium-sized golden prize cup.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the smooth trophy with wide base by 0.10m."
+  ]
+}
\ No newline at end of file
diff --git a/handover_mic_wp1/handover_mic_wp1/instructions/episode3.json b/handover_mic_wp1/handover_mic_wp1/instructions/episode3.json
new file mode 100644
index 0000000000000000000000000000000000000000..7700d51b5dadebb09debeae3f5658657f72f7dff
--- /dev/null
+++ b/handover_mic_wp1/handover_mic_wp1/instructions/episode3.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Move the compact size microphone from the left arm to the right arm while keeping clear of the ornate gold cup.",
+    "Secure the microphone with black tip and white body, route it at least 0.10m from the trophy with smooth polished finish, then hand it over.",
+    "Lift the microphone with rounded mesh head with the left arm, give the microphone with rounded mesh head to the right arm, keep clear of the trophy with smooth polished finish 0.10m.",
+    "With the left arm, take the handheld microphone, keep distance from the medium-sized prize trophy, and give the handheld microphone to the right arm.",
+    "Pick up the metal head microphone using the left arm, transfer to the right arm, keep 0.10m from the award trophy with black platform.",
+    "Using the left arm, take the handheld microphone and hand to the right arm, keeping 0.10m from the centerpiece gold trophy on sturdy base.",
+    "Lift the microphone with cylindrical handle, keep it 0.10m away from the trophy with two side handles, then pass it across.",
+    "With the left arm, grasp the metal head microphone, then hand the metal head microphone to the right arm, avoiding the trophy with two side handles.",
+    "Get the microphone for voice recording with the left arm, shift the microphone for voice recording to the right arm, maintaining 0.10m from the ornate gold cup.",
+    "Pick up the compact size microphone, move it staying 0.10m from the two-handled golden trophy, then complete the handoff.",
+    "Grab the smooth plastic microphone handle, carry it around the trophy with detailed top and base with 0.10m clearance, then hand over.",
+    "Take the metal head microphone with the left arm, route it away from the centerpiece gold trophy on sturdy base, then hand it to the right arm.",
+    "Let the left arm grasp the microphone with rounded mesh head, move it 0.10m from the ornate gold cup, then the right arm receives.",
+    "Take the microphone with rounded mesh head using the left arm, keep away from the trophy with smooth polished finish, and pass to the right arm.",
+    "Have the left arm take the microphone with textured metal head, then the right arm takes the microphone with textured metal head, keep 0.10m from the trophy with smooth polished finish.",
+    "Take the black and white microphone with the left arm, hand over to the right arm, keep the black and white microphone 0.10m away from the shiny gold trophy with black stand.",
+    "Using the left arm, grab the black and white microphone, keep 0.10m from the centerpiece gold trophy on sturdy base, then give the black and white microphone to the right arm.",
+    "Have the left arm grasp the white microphone handle black accents, avoid the trophy with smooth polished finish by 0.10m, and transfer the white microphone handle black accents to the right arm.",
+    "Pick up the microphone with cylindrical handle with the left arm, transfer to the right arm, stay away from the centerpiece gold trophy on sturdy base.",
+    "Use the left arm to lift the handheld microphone, then give the handheld microphone to the right arm, avoiding the shiny gold trophy with black stand by 0.10m.",
+    "Move the handheld microphone from the left arm to the right arm while keeping clear of the trophy with smooth polished finish.",
+    "Secure the metal head microphone, route it at least 0.10m from the trophy with smooth polished finish, then hand it over.",
+    "Lift the mesh-patterned microphone head with the left arm, give the mesh-patterned microphone head to the right arm, keep clear of the award trophy with black platform 0.10m.",
+    "With the left arm, take the microphone with textured metal head, keep distance from the gold trophy, and give the microphone with textured metal head to the right arm.",
+    "Pick up the metal head microphone using the left arm, transfer to the right arm, keep 0.10m from the shiny gold trophy with black stand.",
+    "Using the left arm, take the microphone with rounded mesh head and hand to the right arm, keeping 0.10m from the gold trophy.",
+    "Lift the white microphone handle black accents, keep it 0.10m away from the shiny gold trophy with black stand, then pass it across.",
+    "With the left arm, grasp the handheld microphone, then hand the handheld microphone to the right arm, avoiding the trophy with detailed top and base.",
+    "Get the black and white microphone with the left arm, shift the black and white microphone to the right arm, maintaining 0.10m from the medium-sized prize trophy.",
+    "Pick up the metal head microphone, move it staying 0.10m from the medium-sized prize trophy, then complete the handoff.",
+    "Grab the smooth plastic microphone handle, carry it around the gold and black prize cup with 0.10m clearance, then hand over.",
+    "Take the mesh-patterned microphone head with the left arm, route it away from the shiny gold trophy with black stand, then hand it to the right arm.",
+    "Let the left arm grasp the microphone with cylindrical handle, move it 0.10m from the ornate gold cup, then the right arm receives.",
+    "Take the black and white microphone using the left arm, keep away from the medium-sized prize trophy, and pass to the right arm.",
+    "Have the left arm take the compact size microphone, then the right arm takes the compact size microphone, keep 0.10m from the trophy with two side handles.",
+    "Take the handheld microphone with the left arm, hand over to the right arm, keep the handheld microphone 0.10m away from the gold and black prize cup.",
+    "Using the left arm, grab the white microphone handle black accents, keep 0.10m from the trophy with two side handles, then give the white microphone handle black accents to the right arm.",
+    "Have the left arm grasp the microphone with cylindrical handle, avoid the ornate gold cup by 0.10m, and transfer the microphone with cylindrical handle to the right arm.",
+    "Pick up the microphone with cylindrical handle with the left arm, transfer to the right arm, stay away from the award trophy with black platform.",
+    "Use the left arm to lift the microphone with rounded mesh head, then give the microphone with rounded mesh head to the right arm, avoiding the gold cup on black base by 0.10m.",
+    "Move the mesh-patterned microphone head from the left arm to the right arm while keeping clear of the ornate gold cup.",
+    "Secure the white microphone handle black accents, route it at least 0.10m from the gold and black prize cup, then hand it over.",
+    "Lift the compact size microphone with the left arm, give the compact size microphone to the right arm, keep clear of the gold cup on black base 0.10m.",
+    "With the left arm, take the compact size microphone, keep distance from the award trophy with black platform, and give the compact size microphone to the right arm.",
+    "Pick up the compact size microphone using the left arm, transfer to the right arm, keep 0.10m from the ornate gold cup.",
+    "Using the left arm, take the black and white microphone and hand to the right arm, keeping 0.10m from the gold trophy.",
+    "Lift the black and white microphone, keep it 0.10m away from the medium-sized prize trophy, then pass it across.",
+    "With the left arm, grasp the microphone with textured metal head, then hand the microphone with textured metal head to the right arm, avoiding the trophy with two side handles.",
+    "Get the smooth plastic microphone handle with the left arm, shift the smooth plastic microphone handle to the right arm, maintaining 0.10m from the award trophy with black platform.",
+    "Pick up the microphone for voice recording, move it staying 0.10m from the gold cup on black base, then complete the handoff.",
+    "Grab the microphone for voice recording, carry it around the gold cup on black base with 0.10m clearance, then hand over.",
+    "Take the microphone with textured metal head with the left arm, route it away from the trophy with smooth polished finish, then hand it to the right arm.",
+    "Let the left arm grasp the compact size microphone, move it 0.10m from the shiny gold trophy with black stand, then the right arm receives.",
+    "Take the compact size microphone using the left arm, keep away from the gold cup on black base, and pass to the right arm.",
+    "Have the left arm take the black and white microphone, then the right arm takes the black and white microphone, keep 0.10m from the shiny gold trophy with black stand.",
+    "Take the mesh-patterned microphone head with the left arm, hand over to the right arm, keep the mesh-patterned microphone head 0.10m away from the two-handled golden trophy.",
+    "Using the left arm, grab the microphone with textured metal head, keep 0.10m from the trophy with two side handles, then give the microphone with textured metal head to the right arm.",
+    "Have the left arm grasp the black and white microphone, avoid the medium-sized prize trophy by 0.10m, and transfer the black and white microphone to the right arm.",
+    "Pick up the microphone with textured metal head with the left arm, transfer to the right arm, stay away from the medium-sized prize trophy.",
+    "Use the left arm to lift the microphone for voice recording, then give the microphone for voice recording to the right arm, avoiding the gold and black prize cup by 0.10m.",
+    "Move the microphone with black tip and white body from the left arm to the right arm while keeping clear of the medium-sized prize trophy.",
+    "Secure the metal head microphone, route it at least 0.10m from the gold and black prize cup, then hand it over.",
+    "Lift the black and white microphone with the left arm, give the black and white microphone to the right arm, keep clear of the trophy with smooth polished finish 0.10m.",
+    "With the left arm, take the microphone with cylindrical handle, keep distance from the medium-sized prize trophy, and give the microphone with cylindrical handle to the right arm.",
+    "Pick up the microphone with cylindrical handle using the left arm, transfer to the right arm, keep 0.10m from the centerpiece gold trophy on sturdy base.",
+    "Using the left arm, take the white microphone handle black accents and hand to the right arm, keeping 0.10m from the medium-sized prize trophy.",
+    "Lift the microphone with cylindrical handle, keep it 0.10m away from the two-handled golden trophy, then pass it across.",
+    "With the left arm, grasp the black and white microphone, then hand the black and white microphone to the right arm, avoiding the award trophy with black platform.",
+    "Get the microphone for voice recording with the left arm, shift the microphone for voice recording to the right arm, maintaining 0.10m from the centerpiece gold trophy on sturdy base.",
+    "Pick up the smooth plastic microphone handle, move it staying 0.10m from the ornate gold cup, then complete the handoff.",
+    "Grab the microphone with rounded mesh head, carry it around the gold cup on black base with 0.10m clearance, then hand over.",
+    "Take the mesh-patterned microphone head with the left arm, route it away from the medium-sized prize trophy, then hand it to the right arm.",
+    "Let the left arm grasp the microphone for voice recording, move it 0.10m from the trophy with two side handles, then the right arm receives.",
+    "Take the microphone with black tip and white body using the left arm, keep away from the centerpiece gold trophy on sturdy base, and pass to the right arm.",
+    "Have the left arm take the metal head microphone, then the right arm takes the metal head microphone, keep 0.10m from the centerpiece gold trophy on sturdy base.",
+    "Take the microphone with textured metal head with the left arm, hand over to the right arm, keep the microphone with textured metal head 0.10m away from the trophy with smooth polished finish.",
+    "Using the left arm, grab the black and white microphone, keep 0.10m from the trophy with smooth polished finish, then give the black and white microphone to the right arm.",
+    "Have the left arm grasp the handheld microphone, avoid the trophy with smooth polished finish by 0.10m, and transfer the handheld microphone to the right arm.",
+    "Pick up the smooth plastic microphone handle with the left arm, transfer to the right arm, stay away from the trophy with two side handles.",
+    "Use the left arm to lift the microphone for voice recording, then give the microphone for voice recording to the right arm, avoiding the gold and black prize cup by 0.10m.",
+    "Move the black and white microphone from the left arm to the right arm while keeping clear of the trophy with smooth polished finish.",
+    "Secure the microphone with cylindrical handle, route it at least 0.10m from the two-handled golden trophy, then hand it over.",
+    "Lift the smooth plastic microphone handle with the left arm, give the smooth plastic microphone handle to the right arm, keep clear of the gold trophy 0.10m.",
+    "With the left arm, take the microphone with rounded mesh head, keep distance from the ornate gold cup, and give the microphone with rounded mesh head to the right arm.",
+    "Pick up the microphone with rounded mesh head using the left arm, transfer to the right arm, keep 0.10m from the gold and black prize cup.",
+    "Using the left arm, take the white microphone handle black accents and hand to the right arm, keeping 0.10m from the award trophy with black platform.",
+    "Lift the compact size microphone, keep it 0.10m away from the shiny gold trophy with black stand, then pass it across.",
+    "With the left arm, grasp the microphone for voice recording, then hand the microphone for voice recording to the right arm, avoiding the gold and black prize cup.",
+    "Get the microphone with cylindrical handle with the left arm, shift the microphone with cylindrical handle to the right arm, maintaining 0.10m from the medium-sized prize trophy.",
+    "Pick up the black and white microphone, move it staying 0.10m from the centerpiece gold trophy on sturdy base, then complete the handoff.",
+    "Grab the black and white microphone, carry it around the centerpiece gold trophy on sturdy base with 0.10m clearance, then hand over.",
+    "Take the microphone with rounded mesh head with the left arm, route it away from the gold trophy, then hand it to the right arm.",
+    "Let the left arm grasp the microphone with black tip and white body, move it 0.10m from the gold trophy, then the right arm receives.",
+    "Take the microphone with rounded mesh head using the left arm, keep away from the gold trophy, and pass to the right arm.",
+    "Have the left arm take the smooth plastic microphone handle, then the right arm takes the smooth plastic microphone handle, keep 0.10m from the ornate gold cup.",
+    "Take the smooth plastic microphone handle with the left arm, hand over to the right arm, keep the smooth plastic microphone handle 0.10m away from the trophy with detailed top and base.",
+    "Using the left arm, grab the compact size microphone, keep 0.10m from the centerpiece gold trophy on sturdy base, then give the compact size microphone to the right arm.",
+    "Have the left arm grasp the handheld microphone, avoid the two-handled golden trophy by 0.10m, and transfer the handheld microphone to the right arm.",
+    "Pick up the handheld microphone with the left arm, transfer to the right arm, stay away from the gold and black prize cup.",
+    "Use the left arm to lift the black and white microphone, then give the black and white microphone to the right arm, avoiding the two-handled golden trophy by 0.10m."
+  ],
+  "unseen": [
+    "Pick up the lightweight handheld microphone, avoid the smooth gold cup by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the golden award cup, hand to the right arm.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the trophy cup with curved handles.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the smooth gold cup.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the golden award cup.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the smooth gold cup by 0.10m.",
+    "Pick up the black and white plastic microphone, avoid the trophy cup with curved handles by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the smooth gold cup, hand to the right arm.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the trophy cup with curved handles.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the golden award cup.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the smooth gold cup.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the smooth gold cup by 0.10m.",
+    "Pick up the black and white plastic microphone, avoid the trophy cup with curved handles by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the golden award cup, hand to the right arm.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the smooth gold cup.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the smooth gold cup.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the golden award cup.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Pick up the microphone used for audio input, avoid the smooth gold cup by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the smooth gold cup, hand to the right arm.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the trophy cup with curved handles.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the smooth gold cup.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the trophy cup with curved handles.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Pick up the lightweight handheld microphone, avoid the golden award cup by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the trophy cup with curved handles, hand to the right arm.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the trophy cup with curved handles.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the smooth gold cup.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the trophy cup with curved handles.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the golden award cup by 0.10m.",
+    "Pick up the microphone used for audio input, avoid the trophy cup with curved handles by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the golden award cup, hand to the right arm.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the smooth gold cup.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the trophy cup with curved handles.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the trophy cup with curved handles.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the golden award cup by 0.10m.",
+    "Pick up the lightweight handheld microphone, avoid the trophy cup with curved handles by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the trophy cup with curved handles, hand to the right arm.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the trophy cup with curved handles.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the trophy cup with curved handles.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the golden award cup.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the smooth gold cup by 0.10m.",
+    "Pick up the microphone used for audio input, avoid the golden award cup by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the smooth gold cup, hand to the right arm.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the smooth gold cup.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the golden award cup.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the golden award cup.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Pick up the black and white plastic microphone, avoid the golden award cup by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the trophy cup with curved handles, hand to the right arm.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the golden award cup.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the smooth gold cup.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the golden award cup.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the smooth gold cup by 0.10m.",
+    "Pick up the black and white plastic microphone, avoid the smooth gold cup by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the smooth gold cup, hand to the right arm.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the smooth gold cup.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the trophy cup with curved handles.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the trophy cup with curved handles.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Pick up the black and white plastic microphone, avoid the smooth gold cup by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the trophy cup with curved handles, hand to the right arm.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the smooth gold cup.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the trophy cup with curved handles.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the golden award cup.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the golden award cup by 0.10m.",
+    "Pick up the microphone used for audio input, avoid the trophy cup with curved handles by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the smooth gold cup, hand to the right arm.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the golden award cup.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the trophy cup with curved handles.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the smooth gold cup.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Pick up the microphone used for audio input, avoid the smooth gold cup by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the trophy cup with curved handles, hand to the right arm.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the smooth gold cup.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the golden award cup.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the smooth gold cup.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Pick up the black and white plastic microphone, avoid the golden award cup by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the trophy cup with curved handles, hand to the right arm.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the trophy cup with curved handles.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the smooth gold cup.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the smooth gold cup.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the golden award cup by 0.10m.",
+    "Pick up the microphone used for audio input, avoid the golden award cup by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the trophy cup with curved handles, hand to the right arm.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the smooth gold cup.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the trophy cup with curved handles.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the golden award cup.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Pick up the black and white plastic microphone, avoid the golden award cup by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the smooth gold cup, hand to the right arm.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the smooth gold cup.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the trophy cup with curved handles.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the golden award cup.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the smooth gold cup by 0.10m.",
+    "Pick up the black and white plastic microphone, avoid the golden award cup by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the trophy cup with curved handles, hand to the right arm.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the trophy cup with curved handles.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the trophy cup with curved handles."
+  ]
+}
\ No newline at end of file
diff --git a/handover_mic_wp1/handover_mic_wp1/instructions/episode30.json b/handover_mic_wp1/handover_mic_wp1/instructions/episode30.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c12ba9864425095122f7a4b22c34f38b1859dfb
--- /dev/null
+++ b/handover_mic_wp1/handover_mic_wp1/instructions/episode30.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the metal head microphone using the left arm, transfer to the right arm, keep 0.10m from the trophy with smooth golden surface.",
+    "With the left arm, grasp the smooth plastic microphone handle, then hand the smooth plastic microphone handle to the right arm, avoiding the decorative trophy with shiny finish.",
+    "Take the microphone for voice recording with the left arm, hand over to the right arm, keep the microphone for voice recording 0.10m away from the smooth gold cup with sturdy pedestal.",
+    "Pick up the microphone with rounded mesh head with the left arm, transfer to the right arm, stay away from the shiny gold cup with black stand.",
+    "Grab the white microphone handle black accents, carry it around the trophy with curved handles with 0.10m clearance, then hand over.",
+    "Get the microphone with rounded mesh head with the left arm, shift the microphone with rounded mesh head to the right arm, maintaining 0.10m from the gold-colored prize cup with solid base.",
+    "Using the left arm, take the handheld microphone and hand to the right arm, keeping 0.10m from the smooth gold cup with sturdy pedestal.",
+    "Use the left arm to lift the handheld microphone, then give the handheld microphone to the right arm, avoiding the gold trophy by 0.10m.",
+    "Move the compact size microphone from the left arm to the right arm while keeping clear of the award trophy.",
+    "With the left arm, take the microphone with textured metal head, keep distance from the cup-shaped trophy, and give the microphone with textured metal head to the right arm.",
+    "Take the microphone for voice recording using the left arm, keep away from the smooth gold cup with sturdy pedestal, and pass to the right arm.",
+    "Have the left arm take the microphone with black tip and white body, then the right arm takes the microphone with black tip and white body, keep 0.10m from the decorative trophy with shiny finish.",
+    "Pick up the white microphone handle black accents, move it staying 0.10m from the trophy with curved handles, then complete the handoff.",
+    "Let the left arm grasp the metal head microphone, move it 0.10m from the trophy cup, then the right arm receives.",
+    "Take the microphone with textured metal head with the left arm, route it away from the medium trophy with pedestal base, then hand it to the right arm.",
+    "Lift the handheld microphone with the left arm, give the handheld microphone to the right arm, keep clear of the trophy with curved handles 0.10m.",
+    "Have the left arm grasp the handheld microphone, avoid the gold prize cup by 0.10m, and transfer the handheld microphone to the right arm.",
+    "Secure the black and white microphone, route it at least 0.10m from the trophy with smooth golden surface, then hand it over.",
+    "Lift the handheld microphone, keep it 0.10m away from the shiny gold cup with black stand, then pass it across.",
+    "Using the left arm, grab the microphone with cylindrical handle, keep 0.10m from the gold-colored prize cup with solid base, then give the microphone with cylindrical handle to the right arm.",
+    "Pick up the handheld microphone using the left arm, transfer to the right arm, keep 0.10m from the smooth gold cup with sturdy pedestal.",
+    "With the left arm, grasp the metal head microphone, then hand the metal head microphone to the right arm, avoiding the gold trophy.",
+    "Take the microphone for voice recording with the left arm, hand over to the right arm, keep the microphone for voice recording 0.10m away from the trophy with curved handles.",
+    "Pick up the mesh-patterned microphone head with the left arm, transfer to the right arm, stay away from the gold prize cup.",
+    "Grab the microphone with black tip and white body, carry it around the shiny gold cup with black stand with 0.10m clearance, then hand over.",
+    "Get the microphone with cylindrical handle with the left arm, shift the microphone with cylindrical handle to the right arm, maintaining 0.10m from the award trophy.",
+    "Using the left arm, take the smooth plastic microphone handle and hand to the right arm, keeping 0.10m from the gold prize cup.",
+    "Use the left arm to lift the handheld microphone, then give the handheld microphone to the right arm, avoiding the shiny gold cup with black stand by 0.10m.",
+    "Move the white microphone handle black accents from the left arm to the right arm while keeping clear of the trophy with curved handles.",
+    "With the left arm, take the compact size microphone, keep distance from the trophy with curved handles, and give the compact size microphone to the right arm.",
+    "Take the metal head microphone using the left arm, keep away from the medium trophy with pedestal base, and pass to the right arm.",
+    "Have the left arm take the microphone for voice recording, then the right arm takes the microphone for voice recording, keep 0.10m from the smooth gold cup with sturdy pedestal.",
+    "Pick up the microphone with rounded mesh head, move it staying 0.10m from the shiny gold cup with black stand, then complete the handoff.",
+    "Let the left arm grasp the microphone with cylindrical handle, move it 0.10m from the gold prize cup, then the right arm receives.",
+    "Take the microphone with cylindrical handle with the left arm, route it away from the gold-colored prize cup with solid base, then hand it to the right arm.",
+    "Lift the microphone with black tip and white body with the left arm, give the microphone with black tip and white body to the right arm, keep clear of the smooth gold cup with sturdy pedestal 0.10m.",
+    "Have the left arm grasp the microphone with textured metal head, avoid the award trophy by 0.10m, and transfer the microphone with textured metal head to the right arm.",
+    "Secure the handheld microphone, route it at least 0.10m from the gold-colored prize cup with solid base, then hand it over.",
+    "Lift the black and white microphone, keep it 0.10m away from the shiny gold cup with black stand, then pass it across.",
+    "Using the left arm, grab the compact size microphone, keep 0.10m from the award trophy, then give the compact size microphone to the right arm.",
+    "Pick up the mesh-patterned microphone head using the left arm, transfer to the right arm, keep 0.10m from the gold trophy.",
+    "With the left arm, grasp the white microphone handle black accents, then hand the white microphone handle black accents to the right arm, avoiding the cup-shaped trophy.",
+    "Take the microphone with cylindrical handle with the left arm, hand over to the right arm, keep the microphone with cylindrical handle 0.10m away from the gold-colored prize cup with solid base.",
+    "Pick up the microphone for voice recording with the left arm, transfer to the right arm, stay away from the gold prize cup.",
+    "Grab the mesh-patterned microphone head, carry it around the cup-shaped trophy with 0.10m clearance, then hand over.",
+    "Get the microphone with rounded mesh head with the left arm, shift the microphone with rounded mesh head to the right arm, maintaining 0.10m from the trophy with curved handles.",
+    "Using the left arm, take the microphone for voice recording and hand to the right arm, keeping 0.10m from the shiny gold cup with black stand.",
+    "Use the left arm to lift the compact size microphone, then give the compact size microphone to the right arm, avoiding the trophy with curved handles by 0.10m.",
+    "Move the microphone with black tip and white body from the left arm to the right arm while keeping clear of the cup-shaped trophy.",
+    "With the left arm, take the microphone with cylindrical handle, keep distance from the award trophy, and give the microphone with cylindrical handle to the right arm.",
+    "Take the microphone with black tip and white body using the left arm, keep away from the trophy cup, and pass to the right arm.",
+    "Have the left arm take the white microphone handle black accents, then the right arm takes the white microphone handle black accents, keep 0.10m from the cup-shaped trophy.",
+    "Pick up the microphone for voice recording, move it staying 0.10m from the gold-colored prize cup with solid base, then complete the handoff.",
+    "Let the left arm grasp the microphone for voice recording, move it 0.10m from the trophy with curved handles, then the right arm receives.",
+    "Take the compact size microphone with the left arm, route it away from the decorative trophy with shiny finish, then hand it to the right arm.",
+    "Lift the smooth plastic microphone handle with the left arm, give the smooth plastic microphone handle to the right arm, keep clear of the medium trophy with pedestal base 0.10m.",
+    "Have the left arm grasp the compact size microphone, avoid the gold prize cup by 0.10m, and transfer the compact size microphone to the right arm.",
+    "Secure the white microphone handle black accents, route it at least 0.10m from the gold-colored prize cup with solid base, then hand it over.",
+    "Lift the black and white microphone, keep it 0.10m away from the gold-colored prize cup with solid base, then pass it across.",
+    "Using the left arm, grab the smooth plastic microphone handle, keep 0.10m from the gold prize cup, then give the smooth plastic microphone handle to the right arm.",
+    "Pick up the white microphone handle black accents using the left arm, transfer to the right arm, keep 0.10m from the trophy with smooth golden surface.",
+    "With the left arm, grasp the metal head microphone, then hand the metal head microphone to the right arm, avoiding the decorative trophy with shiny finish.",
+    "Take the smooth plastic microphone handle with the left arm, hand over to the right arm, keep the smooth plastic microphone handle 0.10m away from the trophy cup.",
+    "Pick up the microphone with textured metal head with the left arm, transfer to the right arm, stay away from the gold trophy.",
+    "Grab the microphone with rounded mesh head, carry it around the smooth gold cup with sturdy pedestal with 0.10m clearance, then hand over.",
+    "Get the white microphone handle black accents with the left arm, shift the white microphone handle black accents to the right arm, maintaining 0.10m from the cup-shaped trophy.",
+    "Using the left arm, take the smooth plastic microphone handle and hand to the right arm, keeping 0.10m from the award trophy.",
+    "Use the left arm to lift the black and white microphone, then give the black and white microphone to the right arm, avoiding the smooth gold cup with sturdy pedestal by 0.10m.",
+    "Move the microphone with cylindrical handle from the left arm to the right arm while keeping clear of the trophy cup.",
+    "With the left arm, take the handheld microphone, keep distance from the gold trophy, and give the handheld microphone to the right arm.",
+    "Take the microphone with black tip and white body using the left arm, keep away from the gold-colored prize cup with solid base, and pass to the right arm.",
+    "Have the left arm take the microphone with cylindrical handle, then the right arm takes the microphone with cylindrical handle, keep 0.10m from the shiny gold cup with black stand.",
+    "Pick up the microphone with black tip and white body, move it staying 0.10m from the gold prize cup, then complete the handoff.",
+    "Let the left arm grasp the white microphone handle black accents, move it 0.10m from the medium trophy with pedestal base, then the right arm receives.",
+    "Take the microphone for voice recording with the left arm, route it away from the decorative trophy with shiny finish, then hand it to the right arm.",
+    "Lift the microphone with cylindrical handle with the left arm, give the microphone with cylindrical handle to the right arm, keep clear of the gold trophy 0.10m.",
+    "Have the left arm grasp the microphone for voice recording, avoid the cup-shaped trophy by 0.10m, and transfer the microphone for voice recording to the right arm.",
+    "Secure the microphone with rounded mesh head, route it at least 0.10m from the decorative trophy with shiny finish, then hand it over.",
+    "Lift the metal head microphone, keep it 0.10m away from the medium trophy with pedestal base, then pass it across.",
+    "Using the left arm, grab the black and white microphone, keep 0.10m from the decorative trophy with shiny finish, then give the black and white microphone to the right arm.",
+    "Pick up the microphone for voice recording using the left arm, transfer to the right arm, keep 0.10m from the medium trophy with pedestal base.",
+    "With the left arm, grasp the microphone with black tip and white body, then hand the microphone with black tip and white body to the right arm, avoiding the smooth gold cup with sturdy pedestal.",
+    "Take the microphone with black tip and white body with the left arm, hand over to the right arm, keep the microphone with black tip and white body 0.10m away from the decorative trophy with shiny finish.",
+    "Pick up the smooth plastic microphone handle with the left arm, transfer to the right arm, stay away from the trophy with smooth golden surface.",
+    "Grab the white microphone handle black accents, carry it around the gold-colored prize cup with solid base with 0.10m clearance, then hand over.",
+    "Get the compact size microphone with the left arm, shift the compact size microphone to the right arm, maintaining 0.10m from the cup-shaped trophy.",
+    "Using the left arm, take the handheld microphone and hand to the right arm, keeping 0.10m from the gold-colored prize cup with solid base.",
+    "Use the left arm to lift the microphone with rounded mesh head, then give the microphone with rounded mesh head to the right arm, avoiding the gold trophy by 0.10m.",
+    "Move the smooth plastic microphone handle from the left arm to the right arm while keeping clear of the cup-shaped trophy.",
+    "With the left arm, take the white microphone handle black accents, keep distance from the trophy with curved handles, and give the white microphone handle black accents to the right arm.",
+    "Take the smooth plastic microphone handle using the left arm, keep away from the decorative trophy with shiny finish, and pass to the right arm.",
+    "Have the left arm take the smooth plastic microphone handle, then the right arm takes the smooth plastic microphone handle, keep 0.10m from the award trophy.",
+    "Pick up the metal head microphone, move it staying 0.10m from the decorative trophy with shiny finish, then complete the handoff.",
+    "Let the left arm grasp the mesh-patterned microphone head, move it 0.10m from the trophy with smooth golden surface, then the right arm receives.",
+    "Take the smooth plastic microphone handle with the left arm, route it away from the trophy cup, then hand it to the right arm.",
+    "Lift the mesh-patterned microphone head with the left arm, give the mesh-patterned microphone head to the right arm, keep clear of the trophy with curved handles 0.10m.",
+    "Have the left arm grasp the metal head microphone, avoid the shiny gold cup with black stand by 0.10m, and transfer the metal head microphone to the right arm.",
+    "Secure the microphone with rounded mesh head, route it at least 0.10m from the shiny gold cup with black stand, then hand it over.",
+    "Lift the microphone with black tip and white body, keep it 0.10m away from the medium trophy with pedestal base, then pass it across.",
+    "Using the left arm, grab the microphone with textured metal head, keep 0.10m from the shiny gold cup with black stand, then give the microphone with textured metal head to the right arm."
+  ],
+  "unseen": [
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the golden award with rectangular black base.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the golden cup with black base.",
+    "Pick up the lightweight handheld microphone, avoid the golden award with rectangular black base by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the gold cup with side handles by 0.10m.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the golden cup with black base.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the golden award with rectangular black base, hand to the right arm.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the golden award with rectangular black base.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the golden award with rectangular black base.",
+    "Pick up the lightweight handheld microphone, avoid the golden award with rectangular black base by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the gold cup with side handles by 0.10m.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the gold cup with side handles.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the gold cup with side handles, hand to the right arm.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the gold cup with side handles.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the golden award with rectangular black base.",
+    "Pick up the lightweight handheld microphone, avoid the golden cup with black base by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the golden award with rectangular black base by 0.10m.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the golden award with rectangular black base.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the gold cup with side handles, hand to the right arm.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the golden award with rectangular black base.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the golden cup with black base.",
+    "Pick up the lightweight handheld microphone, avoid the golden cup with black base by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the gold cup with side handles by 0.10m.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the golden award with rectangular black base.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the golden cup with black base, hand to the right arm.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the gold cup with side handles.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the golden cup with black base.",
+    "Pick up the lightweight handheld microphone, avoid the golden award with rectangular black base by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the gold cup with side handles by 0.10m.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the golden award with rectangular black base.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the gold cup with side handles, hand to the right arm.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the gold cup with side handles.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the gold cup with side handles.",
+    "Pick up the lightweight handheld microphone, avoid the gold cup with side handles by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the golden award with rectangular black base by 0.10m.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the golden award with rectangular black base.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the golden award with rectangular black base, hand to the right arm.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the golden award with rectangular black base.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the gold cup with side handles.",
+    "Pick up the black and white plastic microphone, avoid the gold cup with side handles by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the golden award with rectangular black base by 0.10m.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the golden cup with black base.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the golden award with rectangular black base, hand to the right arm.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the golden award with rectangular black base.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the gold cup with side handles.",
+    "Pick up the black and white plastic microphone, avoid the golden cup with black base by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the golden award with rectangular black base by 0.10m.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the golden award with rectangular black base.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the golden cup with black base, hand to the right arm.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the golden cup with black base.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the golden cup with black base.",
+    "Pick up the lightweight handheld microphone, avoid the golden award with rectangular black base by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the golden cup with black base by 0.10m.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the golden cup with black base.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the golden award with rectangular black base, hand to the right arm.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the gold cup with side handles.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the gold cup with side handles.",
+    "Pick up the microphone used for audio input, avoid the gold cup with side handles by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the golden award with rectangular black base by 0.10m.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the gold cup with side handles.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the golden award with rectangular black base, hand to the right arm.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the golden award with rectangular black base.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the golden award with rectangular black base.",
+    "Pick up the microphone used for audio input, avoid the golden cup with black base by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the golden cup with black base by 0.10m.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the golden award with rectangular black base.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the golden award with rectangular black base, hand to the right arm.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the golden cup with black base.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the gold cup with side handles.",
+    "Pick up the black and white plastic microphone, avoid the gold cup with side handles by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the golden award with rectangular black base by 0.10m.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the gold cup with side handles.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the golden cup with black base, hand to the right arm.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the golden award with rectangular black base.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the golden award with rectangular black base.",
+    "Pick up the lightweight handheld microphone, avoid the golden award with rectangular black base by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the gold cup with side handles by 0.10m.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the golden award with rectangular black base.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the golden award with rectangular black base, hand to the right arm.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the golden award with rectangular black base.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the golden cup with black base.",
+    "Pick up the microphone used for audio input, avoid the gold cup with side handles by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the golden cup with black base by 0.10m.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the golden cup with black base.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the gold cup with side handles, hand to the right arm.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the gold cup with side handles.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the golden cup with black base.",
+    "Pick up the black and white plastic microphone, avoid the gold cup with side handles by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the golden award with rectangular black base by 0.10m.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the golden cup with black base.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the golden cup with black base, hand to the right arm.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the golden award with rectangular black base.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the golden cup with black base.",
+    "Pick up the lightweight handheld microphone, avoid the golden award with rectangular black base by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the golden award with rectangular black base by 0.10m.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the gold cup with side handles.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the gold cup with side handles, hand to the right arm.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the golden award with rectangular black base.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the golden cup with black base.",
+    "Pick up the black and white plastic microphone, avoid the gold cup with side handles by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the gold cup with side handles by 0.10m."
+  ]
+}
\ No newline at end of file
diff --git a/handover_mic_wp1/handover_mic_wp1/instructions/episode31.json b/handover_mic_wp1/handover_mic_wp1/instructions/episode31.json
new file mode 100644
index 0000000000000000000000000000000000000000..a86dbfa5ce1c3a842ba81faed127c89cd5e24429
--- /dev/null
+++ b/handover_mic_wp1/handover_mic_wp1/instructions/episode31.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Using the right arm, take the microphone with slider switch and hand to the left arm, keeping 0.10m from the shiny yellow trophy.",
+    "Using the right arm, grab the long microphone with smooth teal grip, keep 0.10m from the tall award trophy with glossy surface, then give the long microphone with smooth teal grip to the left arm.",
+    "Lift the white bottom microphone with textured tip with the right arm, give the white bottom microphone with textured tip to the left arm, keep clear of the achievement cup with curved side handles 0.10m.",
+    "Pick up the white bottom microphone with textured tip using the right arm, transfer to the left arm, keep 0.10m from the shiny yellow trophy.",
+    "Lift the compact teal and white microphone, keep it 0.10m away from the tall yellow trophy with small neck, then pass it across.",
+    "Let the right arm grasp the long microphone with smooth teal grip, move it 0.10m from the shiny trophy for winning competitions, then the left arm receives.",
+    "Have the right arm take the white and teal sound microphone, then the left arm takes the white and teal sound microphone, keep 0.10m from the smooth metallic cup with flat bottom.",
+    "Grab the white and teal sound microphone, carry it around the tall award trophy with glossy surface with 0.10m clearance, then hand over.",
+    "Secure the white bottom microphone with textured tip, route it at least 0.10m from the shiny trophy for winning competitions, then hand it over.",
+    "Have the right arm grasp the handheld teal microphone, avoid the shiny trophy for winning competitions by 0.10m, and transfer the handheld teal microphone to the left arm.",
+    "Take the microphone with white rounded head with the right arm, route it away from the achievement cup with curved side handles, then hand it to the left arm.",
+    "With the right arm, take the microphone with slider switch, keep distance from the shiny yellow trophy, and give the microphone with slider switch to the left arm.",
+    "Use the right arm to lift the teal microphone, then give the teal microphone to the left arm, avoiding the tall yellow trophy with small neck by 0.10m.",
+    "Pick up the textured white microphone head with the right arm, transfer to the left arm, stay away from the tall award trophy with glossy surface.",
+    "With the right arm, grasp the rounded white tip microphone, then hand the rounded white tip microphone to the left arm, avoiding the tall yellow trophy with small neck.",
+    "Take the microphone with slider switch with the right arm, hand over to the left arm, keep the microphone with slider switch 0.10m away from the golden cup with curved handles.",
+    "Get the white bottom microphone with textured tip with the right arm, shift the white bottom microphone with textured tip to the left arm, maintaining 0.10m from the award trophy with two handles.",
+    "Move the teal microphone from the right arm to the left arm while keeping clear of the golden yellow cup-shaped prize trophy.",
+    "Take the microphone with slider switch using the right arm, keep away from the smooth metallic cup with flat bottom, and pass to the left arm.",
+    "Pick up the handheld teal microphone, move it staying 0.10m from the tall yellow trophy with small neck, then complete the handoff.",
+    "Using the right arm, take the microphone with slider switch and hand to the left arm, keeping 0.10m from the achievement cup with curved side handles.",
+    "Using the right arm, grab the microphone with slider switch, keep 0.10m from the tall award trophy with glossy surface, then give the microphone with slider switch to the left arm.",
+    "Lift the white and teal sound microphone with the right arm, give the white and teal sound microphone to the left arm, keep clear of the award trophy with two handles 0.10m.",
+    "Pick up the sound microphone with teal body using the right arm, transfer to the left arm, keep 0.10m from the trophy with sleek golden finish.",
+    "Lift the teal microphone, keep it 0.10m away from the award trophy with two handles, then pass it across.",
+    "Let the right arm grasp the teal microphone, move it 0.10m from the trophy with sleek golden finish, then the left arm receives.",
+    "Have the right arm take the teal microphone, then the left arm takes the teal microphone, keep 0.10m from the golden yellow cup-shaped prize trophy.",
+    "Grab the white and teal sound microphone, carry it around the smooth metallic cup with flat bottom with 0.10m clearance, then hand over.",
+    "Secure the sound microphone with teal body, route it at least 0.10m from the smooth metallic cup with flat bottom, then hand it over.",
+    "Have the right arm grasp the long microphone with smooth teal grip, avoid the shiny trophy for winning competitions by 0.10m, and transfer the long microphone with smooth teal grip to the left arm.",
+    "Take the microphone with slider switch with the right arm, route it away from the shiny trophy for winning competitions, then hand it to the left arm.",
+    "With the right arm, take the handheld teal microphone, keep distance from the shiny trophy for winning competitions, and give the handheld teal microphone to the left arm.",
+    "Use the right arm to lift the textured white microphone head, then give the textured white microphone head to the left arm, avoiding the tall award trophy with glossy surface by 0.10m.",
+    "Pick up the sound microphone with teal body with the right arm, transfer to the left arm, stay away from the metallic yellow cup-shaped trophy.",
+    "With the right arm, grasp the white and teal sound microphone, then hand the white and teal sound microphone to the left arm, avoiding the trophy with sleek golden finish.",
+    "Take the plastic teal microphone with slider with the right arm, hand over to the left arm, keep the plastic teal microphone with slider 0.10m away from the award trophy with two handles.",
+    "Get the long microphone with smooth teal grip with the right arm, shift the long microphone with smooth teal grip to the left arm, maintaining 0.10m from the metallic yellow cup-shaped trophy.",
+    "Move the sound microphone with teal body from the right arm to the left arm while keeping clear of the achievement cup with curved side handles.",
+    "Take the white bottom microphone with textured tip using the right arm, keep away from the golden yellow cup-shaped prize trophy, and pass to the left arm.",
+    "Pick up the handheld teal microphone, move it staying 0.10m from the metallic yellow cup-shaped trophy, then complete the handoff.",
+    "Using the right arm, take the textured white microphone head and hand to the left arm, keeping 0.10m from the golden yellow cup-shaped prize trophy.",
+    "Using the right arm, grab the handheld teal microphone, keep 0.10m from the shiny trophy for winning competitions, then give the handheld teal microphone to the left arm.",
+    "Lift the microphone with white rounded head with the right arm, give the microphone with white rounded head to the left arm, keep clear of the tall award trophy with glossy surface 0.10m.",
+    "Pick up the microphone with slider switch using the right arm, transfer to the left arm, keep 0.10m from the golden cup with curved handles.",
+    "Lift the plastic teal microphone with slider, keep it 0.10m away from the golden cup with curved handles, then pass it across.",
+    "Let the right arm grasp the white bottom microphone with textured tip, move it 0.10m from the smooth metallic cup with flat bottom, then the left arm receives.",
+    "Have the right arm take the white bottom microphone with textured tip, then the left arm takes the white bottom microphone with textured tip, keep 0.10m from the golden trophy.",
+    "Grab the long microphone with smooth teal grip, carry it around the achievement cup with curved side handles with 0.10m clearance, then hand over.",
+    "Secure the plastic teal microphone with slider, route it at least 0.10m from the smooth metallic cup with flat bottom, then hand it over.",
+    "Have the right arm grasp the textured white microphone head, avoid the tall award trophy with glossy surface by 0.10m, and transfer the textured white microphone head to the left arm.",
+    "Take the white bottom microphone with textured tip with the right arm, route it away from the trophy with sleek golden finish, then hand it to the left arm.",
+    "With the right arm, take the rounded white tip microphone, keep distance from the trophy with sleek golden finish, and give the rounded white tip microphone to the left arm.",
+    "Use the right arm to lift the textured white microphone head, then give the textured white microphone head to the left arm, avoiding the shiny yellow trophy by 0.10m.",
+    "Pick up the sound microphone with teal body with the right arm, transfer to the left arm, stay away from the smooth metallic cup with flat bottom.",
+    "With the right arm, grasp the plastic teal microphone with slider, then hand the plastic teal microphone with slider to the left arm, avoiding the tall yellow trophy with small neck.",
+    "Take the handheld teal microphone with the right arm, hand over to the left arm, keep the handheld teal microphone 0.10m away from the shiny yellow trophy.",
+    "Get the sound microphone with teal body with the right arm, shift the sound microphone with teal body to the left arm, maintaining 0.10m from the golden trophy.",
+    "Move the textured white microphone head from the right arm to the left arm while keeping clear of the shiny yellow trophy.",
+    "Take the handheld teal microphone using the right arm, keep away from the smooth metallic cup with flat bottom, and pass to the left arm.",
+    "Pick up the handheld teal microphone, move it staying 0.10m from the tall award trophy with glossy surface, then complete the handoff.",
+    "Using the right arm, take the textured white microphone head and hand to the left arm, keeping 0.10m from the golden yellow cup-shaped prize trophy.",
+    "Using the right arm, grab the handheld teal microphone, keep 0.10m from the award trophy with two handles, then give the handheld teal microphone to the left arm.",
+    "Lift the microphone with slider switch with the right arm, give the microphone with slider switch to the left arm, keep clear of the metallic yellow cup-shaped trophy 0.10m.",
+    "Pick up the white and teal sound microphone using the right arm, transfer to the left arm, keep 0.10m from the golden yellow cup-shaped prize trophy.",
+    "Lift the long microphone with smooth teal grip, keep it 0.10m away from the golden trophy, then pass it across.",
+    "Let the right arm grasp the white and teal sound microphone, move it 0.10m from the shiny trophy for winning competitions, then the left arm receives.",
+    "Have the right arm take the white and teal sound microphone, then the left arm takes the white and teal sound microphone, keep 0.10m from the tall award trophy with glossy surface.",
+    "Grab the white and teal sound microphone, carry it around the tall yellow trophy with small neck with 0.10m clearance, then hand over.",
+    "Secure the rounded white tip microphone, route it at least 0.10m from the golden trophy, then hand it over.",
+    "Have the right arm grasp the sound microphone with teal body, avoid the tall award trophy with glossy surface by 0.10m, and transfer the sound microphone with teal body to the left arm.",
+    "Take the handheld teal microphone with the right arm, route it away from the smooth metallic cup with flat bottom, then hand it to the left arm.",
+    "With the right arm, take the compact teal and white microphone, keep distance from the golden cup with curved handles, and give the compact teal and white microphone to the left arm.",
+    "Use the right arm to lift the rounded white tip microphone, then give the rounded white tip microphone to the left arm, avoiding the trophy with sleek golden finish by 0.10m.",
+    "Pick up the white bottom microphone with textured tip with the right arm, transfer to the left arm, stay away from the trophy with sleek golden finish.",
+    "With the right arm, grasp the long microphone with smooth teal grip, then hand the long microphone with smooth teal grip to the left arm, avoiding the tall award trophy with glossy surface.",
+    "Take the white bottom microphone with textured tip with the right arm, hand over to the left arm, keep the white bottom microphone with textured tip 0.10m away from the shiny trophy for winning competitions.",
+    "Get the sound microphone with teal body with the right arm, shift the sound microphone with teal body to the left arm, maintaining 0.10m from the shiny trophy for winning competitions.",
+    "Move the teal microphone from the right arm to the left arm while keeping clear of the shiny trophy for winning competitions.",
+    "Take the white and teal sound microphone using the right arm, keep away from the achievement cup with curved side handles, and pass to the left arm.",
+    "Pick up the teal microphone, move it staying 0.10m from the metallic yellow cup-shaped trophy, then complete the handoff.",
+    "Using the right arm, take the white bottom microphone with textured tip and hand to the left arm, keeping 0.10m from the award trophy with two handles.",
+    "Using the right arm, grab the long microphone with smooth teal grip, keep 0.10m from the metallic yellow cup-shaped trophy, then give the long microphone with smooth teal grip to the left arm.",
+    "Lift the long microphone with smooth teal grip with the right arm, give the long microphone with smooth teal grip to the left arm, keep clear of the trophy with sleek golden finish 0.10m.",
+    "Pick up the long microphone with smooth teal grip using the right arm, transfer to the left arm, keep 0.10m from the trophy with sleek golden finish.",
+    "Lift the sound microphone with teal body, keep it 0.10m away from the golden yellow cup-shaped prize trophy, then pass it across.",
+    "Let the right arm grasp the white and teal sound microphone, move it 0.10m from the shiny trophy for winning competitions, then the left arm receives.",
+    "Have the right arm take the microphone with slider switch, then the left arm takes the microphone with slider switch, keep 0.10m from the golden trophy.",
+    "Grab the microphone with white rounded head, carry it around the shiny trophy for winning competitions with 0.10m clearance, then hand over.",
+    "Secure the plastic teal microphone with slider, route it at least 0.10m from the achievement cup with curved side handles, then hand it over.",
+    "Have the right arm grasp the rounded white tip microphone, avoid the achievement cup with curved side handles by 0.10m, and transfer the rounded white tip microphone to the left arm.",
+    "Take the textured white microphone head with the right arm, route it away from the trophy with sleek golden finish, then hand it to the left arm.",
+    "With the right arm, take the plastic teal microphone with slider, keep distance from the golden trophy, and give the plastic teal microphone with slider to the left arm.",
+    "Use the right arm to lift the microphone with slider switch, then give the microphone with slider switch to the left arm, avoiding the tall award trophy with glossy surface by 0.10m.",
+    "Pick up the white and teal sound microphone with the right arm, transfer to the left arm, stay away from the golden cup with curved handles.",
+    "With the right arm, grasp the teal microphone, then hand the teal microphone to the left arm, avoiding the shiny yellow trophy.",
+    "Take the textured white microphone head with the right arm, hand over to the left arm, keep the textured white microphone head 0.10m away from the award trophy with two handles.",
+    "Get the plastic teal microphone with slider with the right arm, shift the plastic teal microphone with slider to the left arm, maintaining 0.10m from the golden trophy.",
+    "Move the textured white microphone head from the right arm to the left arm while keeping clear of the trophy with sleek golden finish.",
+    "Take the plastic teal microphone with slider using the right arm, keep away from the tall award trophy with glossy surface, and pass to the left arm.",
+    "Pick up the textured white microphone head, move it staying 0.10m from the trophy with sleek golden finish, then complete the handoff."
+  ],
+  "unseen": [
+    "Grab the teal microphone with white bottom with the right arm, hand it to the left arm, avoiding the smooth trophy with wide base by 0.10m.",
+    "Pick up the teal microphone with white bottom, avoid the prize trophy with sturdy round base by 0.10m, pass the teal microphone with white bottom from the right arm to the left arm.",
+    "With the right arm, grab the long teal microphone with white grooves, pass to the left arm, keeping the long teal microphone with white grooves 0.10m from the medium-sized golden prize cup.",
+    "Grab the switchable microphone with teal body with the right arm, keep 0.10m from the medium-sized golden prize cup, hand to the left arm.",
+    "Use the right arm to grab the teal microphone with white bottom, pass to the left arm, keep the teal microphone with white bottom 0.10m from the smooth trophy with wide base.",
+    "Use the right arm to grab the switchable microphone with teal body, then pass it to the left arm, avoiding the medium-sized golden prize cup.",
+    "Grab the teal microphone with white bottom with the right arm, hand it to the left arm, avoiding the smooth trophy with wide base by 0.10m.",
+    "Pick up the long teal microphone with white grooves, avoid the smooth trophy with wide base by 0.10m, pass the long teal microphone with white grooves from the right arm to the left arm.",
+    "With the right arm, grab the teal microphone with white bottom, pass to the left arm, keeping the teal microphone with white bottom 0.10m from the smooth trophy with wide base.",
+    "Grab the long teal microphone with white grooves with the right arm, keep 0.10m from the medium-sized golden prize cup, hand to the left arm.",
+    "Use the right arm to grab the long teal microphone with white grooves, pass to the left arm, keep the long teal microphone with white grooves 0.10m from the smooth trophy with wide base.",
+    "Use the right arm to grab the teal microphone with white bottom, then pass it to the left arm, avoiding the prize trophy with sturdy round base.",
+    "Grab the teal microphone with white bottom with the right arm, hand it to the left arm, avoiding the medium-sized golden prize cup by 0.10m.",
+    "Pick up the long teal microphone with white grooves, avoid the prize trophy with sturdy round base by 0.10m, pass the long teal microphone with white grooves from the right arm to the left arm.",
+    "With the right arm, grab the teal microphone with white bottom, pass to the left arm, keeping the teal microphone with white bottom 0.10m from the medium-sized golden prize cup.",
+    "Grab the long teal microphone with white grooves with the right arm, keep 0.10m from the prize trophy with sturdy round base, hand to the left arm.",
+    "Use the right arm to grab the switchable microphone with teal body, pass to the left arm, keep the switchable microphone with teal body 0.10m from the smooth trophy with wide base.",
+    "Use the right arm to grab the long teal microphone with white grooves, then pass it to the left arm, avoiding the prize trophy with sturdy round base.",
+    "Grab the long teal microphone with white grooves with the right arm, hand it to the left arm, avoiding the smooth trophy with wide base by 0.10m.",
+    "Pick up the long teal microphone with white grooves, avoid the medium-sized golden prize cup by 0.10m, pass the long teal microphone with white grooves from the right arm to the left arm.",
+    "With the right arm, grab the switchable microphone with teal body, pass to the left arm, keeping the switchable microphone with teal body 0.10m from the smooth trophy with wide base.",
+    "Grab the teal microphone with white bottom with the right arm, keep 0.10m from the prize trophy with sturdy round base, hand to the left arm.",
+    "Use the right arm to grab the teal microphone with white bottom, pass to the left arm, keep the teal microphone with white bottom 0.10m from the prize trophy with sturdy round base.",
+    "Use the right arm to grab the long teal microphone with white grooves, then pass it to the left arm, avoiding the smooth trophy with wide base.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the smooth trophy with wide base by 0.10m.",
+    "Pick up the teal microphone with white bottom, avoid the prize trophy with sturdy round base by 0.10m, pass the teal microphone with white bottom from the right arm to the left arm.",
+    "With the right arm, grab the long teal microphone with white grooves, pass to the left arm, keeping the long teal microphone with white grooves 0.10m from the prize trophy with sturdy round base.",
+    "Grab the switchable microphone with teal body with the right arm, keep 0.10m from the smooth trophy with wide base, hand to the left arm.",
+    "Use the right arm to grab the long teal microphone with white grooves, pass to the left arm, keep the long teal microphone with white grooves 0.10m from the prize trophy with sturdy round base.",
+    "Use the right arm to grab the switchable microphone with teal body, then pass it to the left arm, avoiding the prize trophy with sturdy round base.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the medium-sized golden prize cup by 0.10m.",
+    "Pick up the switchable microphone with teal body, avoid the prize trophy with sturdy round base by 0.10m, pass the switchable microphone with teal body from the right arm to the left arm.",
+    "With the right arm, grab the teal microphone with white bottom, pass to the left arm, keeping the teal microphone with white bottom 0.10m from the medium-sized golden prize cup.",
+    "Grab the teal microphone with white bottom with the right arm, keep 0.10m from the medium-sized golden prize cup, hand to the left arm.",
+    "Use the right arm to grab the teal microphone with white bottom, pass to the left arm, keep the teal microphone with white bottom 0.10m from the medium-sized golden prize cup.",
+    "Use the right arm to grab the long teal microphone with white grooves, then pass it to the left arm, avoiding the prize trophy with sturdy round base.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the smooth trophy with wide base by 0.10m.",
+    "Pick up the long teal microphone with white grooves, avoid the prize trophy with sturdy round base by 0.10m, pass the long teal microphone with white grooves from the right arm to the left arm.",
+    "With the right arm, grab the long teal microphone with white grooves, pass to the left arm, keeping the long teal microphone with white grooves 0.10m from the smooth trophy with wide base.",
+    "Grab the teal microphone with white bottom with the right arm, keep 0.10m from the prize trophy with sturdy round base, hand to the left arm.",
+    "Use the right arm to grab the teal microphone with white bottom, pass to the left arm, keep the teal microphone with white bottom 0.10m from the smooth trophy with wide base.",
+    "Use the right arm to grab the long teal microphone with white grooves, then pass it to the left arm, avoiding the smooth trophy with wide base.",
+    "Grab the long teal microphone with white grooves with the right arm, hand it to the left arm, avoiding the prize trophy with sturdy round base by 0.10m.",
+    "Pick up the long teal microphone with white grooves, avoid the prize trophy with sturdy round base by 0.10m, pass the long teal microphone with white grooves from the right arm to the left arm.",
+    "With the right arm, grab the long teal microphone with white grooves, pass to the left arm, keeping the long teal microphone with white grooves 0.10m from the smooth trophy with wide base.",
+    "Grab the teal microphone with white bottom with the right arm, keep 0.10m from the prize trophy with sturdy round base, hand to the left arm.",
+    "Use the right arm to grab the long teal microphone with white grooves, pass to the left arm, keep the long teal microphone with white grooves 0.10m from the prize trophy with sturdy round base.",
+    "Use the right arm to grab the switchable microphone with teal body, then pass it to the left arm, avoiding the medium-sized golden prize cup.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the smooth trophy with wide base by 0.10m.",
+    "Pick up the teal microphone with white bottom, avoid the prize trophy with sturdy round base by 0.10m, pass the teal microphone with white bottom from the right arm to the left arm.",
+    "With the right arm, grab the teal microphone with white bottom, pass to the left arm, keeping the teal microphone with white bottom 0.10m from the medium-sized golden prize cup.",
+    "Grab the switchable microphone with teal body with the right arm, keep 0.10m from the medium-sized golden prize cup, hand to the left arm.",
+    "Use the right arm to grab the switchable microphone with teal body, pass to the left arm, keep the switchable microphone with teal body 0.10m from the smooth trophy with wide base.",
+    "Use the right arm to grab the switchable microphone with teal body, then pass it to the left arm, avoiding the smooth trophy with wide base.",
+    "Grab the teal microphone with white bottom with the right arm, hand it to the left arm, avoiding the prize trophy with sturdy round base by 0.10m.",
+    "Pick up the teal microphone with white bottom, avoid the smooth trophy with wide base by 0.10m, pass the teal microphone with white bottom from the right arm to the left arm.",
+    "With the right arm, grab the teal microphone with white bottom, pass to the left arm, keeping the teal microphone with white bottom 0.10m from the prize trophy with sturdy round base.",
+    "Grab the long teal microphone with white grooves with the right arm, keep 0.10m from the prize trophy with sturdy round base, hand to the left arm.",
+    "Use the right arm to grab the long teal microphone with white grooves, pass to the left arm, keep the long teal microphone with white grooves 0.10m from the smooth trophy with wide base.",
+    "Use the right arm to grab the long teal microphone with white grooves, then pass it to the left arm, avoiding the smooth trophy with wide base.",
+    "Grab the long teal microphone with white grooves with the right arm, hand it to the left arm, avoiding the medium-sized golden prize cup by 0.10m.",
+    "Pick up the switchable microphone with teal body, avoid the smooth trophy with wide base by 0.10m, pass the switchable microphone with teal body from the right arm to the left arm.",
+    "With the right arm, grab the switchable microphone with teal body, pass to the left arm, keeping the switchable microphone with teal body 0.10m from the prize trophy with sturdy round base.",
+    "Grab the switchable microphone with teal body with the right arm, keep 0.10m from the smooth trophy with wide base, hand to the left arm.",
+    "Use the right arm to grab the teal microphone with white bottom, pass to the left arm, keep the teal microphone with white bottom 0.10m from the medium-sized golden prize cup.",
+    "Use the right arm to grab the switchable microphone with teal body, then pass it to the left arm, avoiding the smooth trophy with wide base.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the smooth trophy with wide base by 0.10m.",
+    "Pick up the teal microphone with white bottom, avoid the smooth trophy with wide base by 0.10m, pass the teal microphone with white bottom from the right arm to the left arm.",
+    "With the right arm, grab the teal microphone with white bottom, pass to the left arm, keeping the teal microphone with white bottom 0.10m from the medium-sized golden prize cup.",
+    "Grab the long teal microphone with white grooves with the right arm, keep 0.10m from the smooth trophy with wide base, hand to the left arm.",
+    "Use the right arm to grab the switchable microphone with teal body, pass to the left arm, keep the switchable microphone with teal body 0.10m from the medium-sized golden prize cup.",
+    "Use the right arm to grab the teal microphone with white bottom, then pass it to the left arm, avoiding the smooth trophy with wide base.",
+    "Grab the teal microphone with white bottom with the right arm, hand it to the left arm, avoiding the smooth trophy with wide base by 0.10m.",
+    "Pick up the long teal microphone with white grooves, avoid the smooth trophy with wide base by 0.10m, pass the long teal microphone with white grooves from the right arm to the left arm.",
+    "With the right arm, grab the long teal microphone with white grooves, pass to the left arm, keeping the long teal microphone with white grooves 0.10m from the prize trophy with sturdy round base.",
+    "Grab the switchable microphone with teal body with the right arm, keep 0.10m from the smooth trophy with wide base, hand to the left arm.",
+    "Use the right arm to grab the switchable microphone with teal body, pass to the left arm, keep the switchable microphone with teal body 0.10m from the medium-sized golden prize cup.",
+    "Use the right arm to grab the teal microphone with white bottom, then pass it to the left arm, avoiding the smooth trophy with wide base.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the prize trophy with sturdy round base by 0.10m.",
+    "Pick up the long teal microphone with white grooves, avoid the smooth trophy with wide base by 0.10m, pass the long teal microphone with white grooves from the right arm to the left arm.",
+    "With the right arm, grab the switchable microphone with teal body, pass to the left arm, keeping the switchable microphone with teal body 0.10m from the smooth trophy with wide base.",
+    "Grab the long teal microphone with white grooves with the right arm, keep 0.10m from the medium-sized golden prize cup, hand to the left arm.",
+    "Use the right arm to grab the teal microphone with white bottom, pass to the left arm, keep the teal microphone with white bottom 0.10m from the smooth trophy with wide base.",
+    "Use the right arm to grab the long teal microphone with white grooves, then pass it to the left arm, avoiding the prize trophy with sturdy round base.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the smooth trophy with wide base by 0.10m.",
+    "Pick up the long teal microphone with white grooves, avoid the medium-sized golden prize cup by 0.10m, pass the long teal microphone with white grooves from the right arm to the left arm.",
+    "With the right arm, grab the switchable microphone with teal body, pass to the left arm, keeping the switchable microphone with teal body 0.10m from the smooth trophy with wide base.",
+    "Grab the switchable microphone with teal body with the right arm, keep 0.10m from the prize trophy with sturdy round base, hand to the left arm.",
+    "Use the right arm to grab the switchable microphone with teal body, pass to the left arm, keep the switchable microphone with teal body 0.10m from the medium-sized golden prize cup.",
+    "Use the right arm to grab the switchable microphone with teal body, then pass it to the left arm, avoiding the prize trophy with sturdy round base.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the smooth trophy with wide base by 0.10m.",
+    "Pick up the teal microphone with white bottom, avoid the medium-sized golden prize cup by 0.10m, pass the teal microphone with white bottom from the right arm to the left arm.",
+    "With the right arm, grab the long teal microphone with white grooves, pass to the left arm, keeping the long teal microphone with white grooves 0.10m from the smooth trophy with wide base.",
+    "Grab the long teal microphone with white grooves with the right arm, keep 0.10m from the medium-sized golden prize cup, hand to the left arm.",
+    "Use the right arm to grab the teal microphone with white bottom, pass to the left arm, keep the teal microphone with white bottom 0.10m from the medium-sized golden prize cup.",
+    "Use the right arm to grab the teal microphone with white bottom, then pass it to the left arm, avoiding the prize trophy with sturdy round base.",
+    "Grab the long teal microphone with white grooves with the right arm, hand it to the left arm, avoiding the medium-sized golden prize cup by 0.10m.",
+    "Pick up the teal microphone with white bottom, avoid the prize trophy with sturdy round base by 0.10m, pass the teal microphone with white bottom from the right arm to the left arm.",
+    "With the right arm, grab the long teal microphone with white grooves, pass to the left arm, keeping the long teal microphone with white grooves 0.10m from the medium-sized golden prize cup.",
+    "Grab the switchable microphone with teal body with the right arm, keep 0.10m from the smooth trophy with wide base, hand to the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/handover_mic_wp1/handover_mic_wp1/instructions/episode32.json b/handover_mic_wp1/handover_mic_wp1/instructions/episode32.json
new file mode 100644
index 0000000000000000000000000000000000000000..55634a733085da0f33a263cb9b365497c3c3b030
--- /dev/null
+++ b/handover_mic_wp1/handover_mic_wp1/instructions/episode32.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With the left arm, take the microphone covered with foam tip, keep distance from the shiny gold trophy with black stand, and give the microphone covered with foam tip to the right arm.",
+    "Using the left arm, take the microphone with dark blue padding and hand to the right arm, keeping 0.10m from the two-handled golden trophy.",
+    "Move the microphone with round foam head from the left arm to the right arm while keeping clear of the trophy with two side handles.",
+    "Pick up the microphone with dark blue padding, move it staying 0.10m from the two-handled golden trophy, then complete the handoff.",
+    "Pick up the microphone with dark blue padding with the left arm, transfer to the right arm, stay away from the gold and black prize cup.",
+    "Lift the dark blue microphone, keep it 0.10m away from the gold trophy, then pass it across.",
+    "Using the left arm, grab the microphone with dark blue padding, keep 0.10m from the centerpiece gold trophy on sturdy base, then give the microphone with dark blue padding to the right arm.",
+    "Have the left arm take the gray stem microphone with foam top, then the right arm takes the gray stem microphone with foam top, keep 0.10m from the ornate gold cup.",
+    "Grab the microphone covered with foam tip, carry it around the gold and black prize cup with 0.10m clearance, then hand over.",
+    "Have the left arm grasp the microphone with dark blue padding, avoid the centerpiece gold trophy on sturdy base by 0.10m, and transfer the microphone with dark blue padding to the right arm.",
+    "Use the left arm to lift the round head microphone, then give the round head microphone to the right arm, avoiding the shiny gold trophy with black stand by 0.10m.",
+    "Pick up the round head microphone using the left arm, transfer to the right arm, keep 0.10m from the trophy with smooth polished finish.",
+    "Get the gray stem microphone with foam top with the left arm, shift the gray stem microphone with foam top to the right arm, maintaining 0.10m from the trophy with smooth polished finish.",
+    "With the left arm, grasp the microphone with dark blue padding, then hand the microphone with dark blue padding to the right arm, avoiding the two-handled golden trophy.",
+    "Take the gray stem microphone with foam top with the left arm, hand over to the right arm, keep the gray stem microphone with foam top 0.10m away from the ornate gold cup.",
+    "Take the dark blue microphone with the left arm, route it away from the gold and black prize cup, then hand it to the right arm.",
+    "Lift the dark blue microphone with the left arm, give the dark blue microphone to the right arm, keep clear of the shiny gold trophy with black stand 0.10m.",
+    "Secure the medium microphone with two-tone color, route it at least 0.10m from the trophy with two side handles, then hand it over.",
+    "Take the small audio microphone using the left arm, keep away from the trophy with two side handles, and pass to the right arm.",
+    "Let the left arm grasp the medium microphone with two-tone color, move it 0.10m from the gold cup on black base, then the right arm receives.",
+    "With the left arm, take the round head microphone, keep distance from the two-handled golden trophy, and give the round head microphone to the right arm.",
+    "Using the left arm, take the round head microphone and hand to the right arm, keeping 0.10m from the ornate gold cup.",
+    "Move the small audio microphone from the left arm to the right arm while keeping clear of the shiny gold trophy with black stand.",
+    "Pick up the microphone with round foam head, move it staying 0.10m from the trophy with smooth polished finish, then complete the handoff.",
+    "Pick up the medium microphone with two-tone color with the left arm, transfer to the right arm, stay away from the gold cup on black base.",
+    "Lift the microphone covered with foam tip, keep it 0.10m away from the centerpiece gold trophy on sturdy base, then pass it across.",
+    "Using the left arm, grab the microphone with smooth gray stem, keep 0.10m from the two-handled golden trophy, then give the microphone with smooth gray stem to the right arm.",
+    "Have the left arm take the microphone with round foam head, then the right arm takes the microphone with round foam head, keep 0.10m from the shiny gold trophy with black stand.",
+    "Grab the microphone with dark blue padding, carry it around the trophy with two side handles with 0.10m clearance, then hand over.",
+    "Have the left arm grasp the microphone covered with foam tip, avoid the award trophy with black platform by 0.10m, and transfer the microphone covered with foam tip to the right arm.",
+    "Use the left arm to lift the microphone for recording sound, then give the microphone for recording sound to the right arm, avoiding the centerpiece gold trophy on sturdy base by 0.10m.",
+    "Pick up the microphone with round foam head using the left arm, transfer to the right arm, keep 0.10m from the gold trophy.",
+    "Get the microphone with round foam head with the left arm, shift the microphone with round foam head to the right arm, maintaining 0.10m from the shiny gold trophy with black stand.",
+    "With the left arm, grasp the round head microphone, then hand the round head microphone to the right arm, avoiding the two-handled golden trophy.",
+    "Take the small audio microphone with the left arm, hand over to the right arm, keep the small audio microphone 0.10m away from the gold and black prize cup.",
+    "Take the gray stem microphone with foam top with the left arm, route it away from the gold and black prize cup, then hand it to the right arm.",
+    "Lift the microphone for recording sound with the left arm, give the microphone for recording sound to the right arm, keep clear of the gold and black prize cup 0.10m.",
+    "Secure the small audio microphone, route it at least 0.10m from the trophy with two side handles, then hand it over.",
+    "Take the medium microphone with two-tone color using the left arm, keep away from the medium-sized prize trophy, and pass to the right arm.",
+    "Let the left arm grasp the microphone covered with foam tip, move it 0.10m from the award trophy with black platform, then the right arm receives.",
+    "With the left arm, take the small audio microphone, keep distance from the award trophy with black platform, and give the small audio microphone to the right arm.",
+    "Using the left arm, take the gray stem microphone with foam top and hand to the right arm, keeping 0.10m from the medium-sized prize trophy.",
+    "Move the small audio microphone from the left arm to the right arm while keeping clear of the gold cup on black base.",
+    "Pick up the microphone with round foam head, move it staying 0.10m from the ornate gold cup, then complete the handoff.",
+    "Pick up the microphone covered with foam tip with the left arm, transfer to the right arm, stay away from the ornate gold cup.",
+    "Lift the dark blue microphone, keep it 0.10m away from the trophy with smooth polished finish, then pass it across.",
+    "Using the left arm, grab the small audio microphone, keep 0.10m from the trophy with two side handles, then give the small audio microphone to the right arm.",
+    "Have the left arm take the small audio microphone, then the right arm takes the small audio microphone, keep 0.10m from the trophy with smooth polished finish.",
+    "Grab the gray stem microphone with foam top, carry it around the medium-sized prize trophy with 0.10m clearance, then hand over.",
+    "Have the left arm grasp the microphone for recording sound, avoid the two-handled golden trophy by 0.10m, and transfer the microphone for recording sound to the right arm.",
+    "Use the left arm to lift the microphone covered with foam tip, then give the microphone covered with foam tip to the right arm, avoiding the trophy with two side handles by 0.10m.",
+    "Pick up the gray and dark blue microphone using the left arm, transfer to the right arm, keep 0.10m from the trophy with smooth polished finish.",
+    "Get the dark blue microphone with the left arm, shift the dark blue microphone to the right arm, maintaining 0.10m from the trophy with detailed top and base.",
+    "With the left arm, grasp the medium microphone with two-tone color, then hand the medium microphone with two-tone color to the right arm, avoiding the shiny gold trophy with black stand.",
+    "Take the medium microphone with two-tone color with the left arm, hand over to the right arm, keep the medium microphone with two-tone color 0.10m away from the two-handled golden trophy.",
+    "Take the dark blue microphone with the left arm, route it away from the award trophy with black platform, then hand it to the right arm.",
+    "Lift the gray and dark blue microphone with the left arm, give the gray and dark blue microphone to the right arm, keep clear of the ornate gold cup 0.10m.",
+    "Secure the microphone for recording sound, route it at least 0.10m from the medium-sized prize trophy, then hand it over.",
+    "Take the microphone with round foam head using the left arm, keep away from the gold and black prize cup, and pass to the right arm.",
+    "Let the left arm grasp the microphone with round foam head, move it 0.10m from the shiny gold trophy with black stand, then the right arm receives.",
+    "With the left arm, take the microphone covered with foam tip, keep distance from the gold trophy, and give the microphone covered with foam tip to the right arm.",
+    "Using the left arm, take the medium microphone with two-tone color and hand to the right arm, keeping 0.10m from the ornate gold cup.",
+    "Move the audio microphone with soft covering from the left arm to the right arm while keeping clear of the shiny gold trophy with black stand.",
+    "Pick up the microphone with dark blue padding, move it staying 0.10m from the shiny gold trophy with black stand, then complete the handoff.",
+    "Pick up the gray and dark blue microphone with the left arm, transfer to the right arm, stay away from the gold and black prize cup.",
+    "Lift the small audio microphone, keep it 0.10m away from the gold cup on black base, then pass it across.",
+    "Using the left arm, grab the dark blue microphone, keep 0.10m from the medium-sized prize trophy, then give the dark blue microphone to the right arm.",
+    "Have the left arm take the microphone covered with foam tip, then the right arm takes the microphone covered with foam tip, keep 0.10m from the medium-sized prize trophy.",
+    "Grab the audio microphone with soft covering, carry it around the award trophy with black platform with 0.10m clearance, then hand over.",
+    "Have the left arm grasp the round head microphone, avoid the trophy with smooth polished finish by 0.10m, and transfer the round head microphone to the right arm.",
+    "Use the left arm to lift the gray and dark blue microphone, then give the gray and dark blue microphone to the right arm, avoiding the award trophy with black platform by 0.10m.",
+    "Pick up the microphone with round foam head using the left arm, transfer to the right arm, keep 0.10m from the trophy with detailed top and base.",
+    "Get the round head microphone with the left arm, shift the round head microphone to the right arm, maintaining 0.10m from the award trophy with black platform.",
+    "With the left arm, grasp the microphone for recording sound, then hand the microphone for recording sound to the right arm, avoiding the centerpiece gold trophy on sturdy base.",
+    "Take the gray stem microphone with foam top with the left arm, hand over to the right arm, keep the gray stem microphone with foam top 0.10m away from the trophy with smooth polished finish.",
+    "Take the gray and dark blue microphone with the left arm, route it away from the gold trophy, then hand it to the right arm.",
+    "Lift the microphone with dark blue padding with the left arm, give the microphone with dark blue padding to the right arm, keep clear of the trophy with smooth polished finish 0.10m.",
+    "Secure the microphone with dark blue padding, route it at least 0.10m from the trophy with smooth polished finish, then hand it over.",
+    "Take the audio microphone with soft covering using the left arm, keep away from the trophy with two side handles, and pass to the right arm.",
+    "Let the left arm grasp the microphone covered with foam tip, move it 0.10m from the medium-sized prize trophy, then the right arm receives.",
+    "With the left arm, take the microphone for recording sound, keep distance from the gold and black prize cup, and give the microphone for recording sound to the right arm.",
+    "Using the left arm, take the gray and dark blue microphone and hand to the right arm, keeping 0.10m from the medium-sized prize trophy.",
+    "Move the microphone for recording sound from the left arm to the right arm while keeping clear of the gold and black prize cup.",
+    "Pick up the dark blue microphone, move it staying 0.10m from the gold trophy, then complete the handoff.",
+    "Pick up the microphone with dark blue padding with the left arm, transfer to the right arm, stay away from the award trophy with black platform.",
+    "Lift the microphone for recording sound, keep it 0.10m away from the two-handled golden trophy, then pass it across.",
+    "Using the left arm, grab the microphone with smooth gray stem, keep 0.10m from the ornate gold cup, then give the microphone with smooth gray stem to the right arm.",
+    "Have the left arm take the microphone with round foam head, then the right arm takes the microphone with round foam head, keep 0.10m from the centerpiece gold trophy on sturdy base.",
+    "Grab the medium microphone with two-tone color, carry it around the trophy with two side handles with 0.10m clearance, then hand over.",
+    "Have the left arm grasp the microphone with round foam head, avoid the award trophy with black platform by 0.10m, and transfer the microphone with round foam head to the right arm.",
+    "Use the left arm to lift the microphone covered with foam tip, then give the microphone covered with foam tip to the right arm, avoiding the gold trophy by 0.10m.",
+    "Pick up the medium microphone with two-tone color using the left arm, transfer to the right arm, keep 0.10m from the trophy with two side handles.",
+    "Get the microphone with dark blue padding with the left arm, shift the microphone with dark blue padding to the right arm, maintaining 0.10m from the gold trophy.",
+    "With the left arm, grasp the gray and dark blue microphone, then hand the gray and dark blue microphone to the right arm, avoiding the trophy with smooth polished finish.",
+    "Take the small audio microphone with the left arm, hand over to the right arm, keep the small audio microphone 0.10m away from the gold trophy.",
+    "Take the round head microphone with the left arm, route it away from the centerpiece gold trophy on sturdy base, then hand it to the right arm.",
+    "Lift the microphone for recording sound with the left arm, give the microphone for recording sound to the right arm, keep clear of the shiny gold trophy with black stand 0.10m.",
+    "Secure the small audio microphone, route it at least 0.10m from the ornate gold cup, then hand it over.",
+    "Take the medium microphone with two-tone color using the left arm, keep away from the ornate gold cup, and pass to the right arm.",
+    "Let the left arm grasp the microphone with dark blue padding, move it 0.10m from the two-handled golden trophy, then the right arm receives."
+  ],
+  "unseen": [
+    "Grab the microphone with cylindrical handle with the left arm, hand it to the right arm, avoiding the smooth gold cup by 0.10m.",
+    "With the left arm, grab the compact microphone with two parts, pass to the right arm, keeping the compact microphone with two parts 0.10m from the trophy cup with curved handles.",
+    "Use the left arm to grab the handheld microphone, pass to the right arm, keep the handheld microphone 0.10m from the smooth gold cup.",
+    "Pick up the handheld microphone, avoid the trophy cup with curved handles by 0.10m, pass the handheld microphone from the left arm to the right arm.",
+    "Grab the microphone with cylindrical handle with the left arm, keep 0.10m from the trophy cup with curved handles, hand to the right arm.",
+    "Use the left arm to grab the handheld microphone, then pass it to the right arm, avoiding the golden award cup.",
+    "Grab the compact microphone with two parts with the left arm, hand it to the right arm, avoiding the golden award cup by 0.10m.",
+    "With the left arm, grab the handheld microphone, pass to the right arm, keeping the handheld microphone 0.10m from the golden award cup.",
+    "Use the left arm to grab the compact microphone with two parts, pass to the right arm, keep the compact microphone with two parts 0.10m from the trophy cup with curved handles.",
+    "Pick up the microphone with cylindrical handle, avoid the trophy cup with curved handles by 0.10m, pass the microphone with cylindrical handle from the left arm to the right arm.",
+    "Grab the handheld microphone with the left arm, keep 0.10m from the trophy cup with curved handles, hand to the right arm.",
+    "Use the left arm to grab the microphone with cylindrical handle, then pass it to the right arm, avoiding the smooth gold cup.",
+    "Grab the compact microphone with two parts with the left arm, hand it to the right arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "With the left arm, grab the microphone with cylindrical handle, pass to the right arm, keeping the microphone with cylindrical handle 0.10m from the trophy cup with curved handles.",
+    "Use the left arm to grab the compact microphone with two parts, pass to the right arm, keep the compact microphone with two parts 0.10m from the smooth gold cup.",
+    "Pick up the handheld microphone, avoid the golden award cup by 0.10m, pass the handheld microphone from the left arm to the right arm.",
+    "Grab the compact microphone with two parts with the left arm, keep 0.10m from the smooth gold cup, hand to the right arm.",
+    "Use the left arm to grab the microphone with cylindrical handle, then pass it to the right arm, avoiding the golden award cup.",
+    "Grab the compact microphone with two parts with the left arm, hand it to the right arm, avoiding the golden award cup by 0.10m.",
+    "With the left arm, grab the compact microphone with two parts, pass to the right arm, keeping the compact microphone with two parts 0.10m from the golden award cup.",
+    "Use the left arm to grab the handheld microphone, pass to the right arm, keep the handheld microphone 0.10m from the golden award cup.",
+    "Pick up the handheld microphone, avoid the smooth gold cup by 0.10m, pass the handheld microphone from the left arm to the right arm.",
+    "Grab the handheld microphone with the left arm, keep 0.10m from the golden award cup, hand to the right arm.",
+    "Use the left arm to grab the compact microphone with two parts, then pass it to the right arm, avoiding the smooth gold cup.",
+    "Grab the microphone with cylindrical handle with the left arm, hand it to the right arm, avoiding the smooth gold cup by 0.10m.",
+    "With the left arm, grab the compact microphone with two parts, pass to the right arm, keeping the compact microphone with two parts 0.10m from the trophy cup with curved handles.",
+    "Use the left arm to grab the compact microphone with two parts, pass to the right arm, keep the compact microphone with two parts 0.10m from the golden award cup.",
+    "Pick up the handheld microphone, avoid the golden award cup by 0.10m, pass the handheld microphone from the left arm to the right arm.",
+    "Grab the microphone with cylindrical handle with the left arm, keep 0.10m from the golden award cup, hand to the right arm.",
+    "Use the left arm to grab the handheld microphone, then pass it to the right arm, avoiding the smooth gold cup.",
+    "Grab the compact microphone with two parts with the left arm, hand it to the right arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "With the left arm, grab the microphone with cylindrical handle, pass to the right arm, keeping the microphone with cylindrical handle 0.10m from the trophy cup with curved handles.",
+    "Use the left arm to grab the compact microphone with two parts, pass to the right arm, keep the compact microphone with two parts 0.10m from the smooth gold cup.",
+    "Pick up the microphone with cylindrical handle, avoid the golden award cup by 0.10m, pass the microphone with cylindrical handle from the left arm to the right arm.",
+    "Grab the handheld microphone with the left arm, keep 0.10m from the trophy cup with curved handles, hand to the right arm.",
+    "Use the left arm to grab the microphone with cylindrical handle, then pass it to the right arm, avoiding the trophy cup with curved handles.",
+    "Grab the microphone with cylindrical handle with the left arm, hand it to the right arm, avoiding the golden award cup by 0.10m.",
+    "With the left arm, grab the handheld microphone, pass to the right arm, keeping the handheld microphone 0.10m from the trophy cup with curved handles.",
+    "Use the left arm to grab the microphone with cylindrical handle, pass to the right arm, keep the microphone with cylindrical handle 0.10m from the smooth gold cup.",
+    "Pick up the compact microphone with two parts, avoid the golden award cup by 0.10m, pass the compact microphone with two parts from the left arm to the right arm.",
+    "Grab the microphone with cylindrical handle with the left arm, keep 0.10m from the golden award cup, hand to the right arm.",
+    "Use the left arm to grab the handheld microphone, then pass it to the right arm, avoiding the smooth gold cup.",
+    "Grab the compact microphone with two parts with the left arm, hand it to the right arm, avoiding the golden award cup by 0.10m.",
+    "With the left arm, grab the microphone with cylindrical handle, pass to the right arm, keeping the microphone with cylindrical handle 0.10m from the trophy cup with curved handles.",
+    "Use the left arm to grab the microphone with cylindrical handle, pass to the right arm, keep the microphone with cylindrical handle 0.10m from the smooth gold cup.",
+    "Pick up the compact microphone with two parts, avoid the trophy cup with curved handles by 0.10m, pass the compact microphone with two parts from the left arm to the right arm.",
+    "Grab the microphone with cylindrical handle with the left arm, keep 0.10m from the trophy cup with curved handles, hand to the right arm.",
+    "Use the left arm to grab the handheld microphone, then pass it to the right arm, avoiding the golden award cup.",
+    "Grab the handheld microphone with the left arm, hand it to the right arm, avoiding the smooth gold cup by 0.10m.",
+    "With the left arm, grab the handheld microphone, pass to the right arm, keeping the handheld microphone 0.10m from the golden award cup.",
+    "Use the left arm to grab the handheld microphone, pass to the right arm, keep the handheld microphone 0.10m from the trophy cup with curved handles.",
+    "Pick up the handheld microphone, avoid the smooth gold cup by 0.10m, pass the handheld microphone from the left arm to the right arm.",
+    "Grab the compact microphone with two parts with the left arm, keep 0.10m from the trophy cup with curved handles, hand to the right arm.",
+    "Use the left arm to grab the handheld microphone, then pass it to the right arm, avoiding the golden award cup.",
+    "Grab the microphone with cylindrical handle with the left arm, hand it to the right arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "With the left arm, grab the handheld microphone, pass to the right arm, keeping the handheld microphone 0.10m from the golden award cup.",
+    "Use the left arm to grab the microphone with cylindrical handle, pass to the right arm, keep the microphone with cylindrical handle 0.10m from the smooth gold cup.",
+    "Pick up the compact microphone with two parts, avoid the smooth gold cup by 0.10m, pass the compact microphone with two parts from the left arm to the right arm.",
+    "Grab the handheld microphone with the left arm, keep 0.10m from the golden award cup, hand to the right arm.",
+    "Use the left arm to grab the handheld microphone, then pass it to the right arm, avoiding the smooth gold cup.",
+    "Grab the compact microphone with two parts with the left arm, hand it to the right arm, avoiding the golden award cup by 0.10m.",
+    "With the left arm, grab the compact microphone with two parts, pass to the right arm, keeping the compact microphone with two parts 0.10m from the golden award cup.",
+    "Use the left arm to grab the compact microphone with two parts, pass to the right arm, keep the compact microphone with two parts 0.10m from the smooth gold cup.",
+    "Pick up the handheld microphone, avoid the smooth gold cup by 0.10m, pass the handheld microphone from the left arm to the right arm.",
+    "Grab the handheld microphone with the left arm, keep 0.10m from the smooth gold cup, hand to the right arm.",
+    "Use the left arm to grab the compact microphone with two parts, then pass it to the right arm, avoiding the smooth gold cup.",
+    "Grab the compact microphone with two parts with the left arm, hand it to the right arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "With the left arm, grab the handheld microphone, pass to the right arm, keeping the handheld microphone 0.10m from the trophy cup with curved handles.",
+    "Use the left arm to grab the microphone with cylindrical handle, pass to the right arm, keep the microphone with cylindrical handle 0.10m from the smooth gold cup.",
+    "Pick up the compact microphone with two parts, avoid the trophy cup with curved handles by 0.10m, pass the compact microphone with two parts from the left arm to the right arm.",
+    "Grab the compact microphone with two parts with the left arm, keep 0.10m from the golden award cup, hand to the right arm.",
+    "Use the left arm to grab the microphone with cylindrical handle, then pass it to the right arm, avoiding the trophy cup with curved handles.",
+    "Grab the microphone with cylindrical handle with the left arm, hand it to the right arm, avoiding the golden award cup by 0.10m.",
+    "With the left arm, grab the compact microphone with two parts, pass to the right arm, keeping the compact microphone with two parts 0.10m from the golden award cup.",
+    "Use the left arm to grab the microphone with cylindrical handle, pass to the right arm, keep the microphone with cylindrical handle 0.10m from the smooth gold cup.",
+    "Pick up the handheld microphone, avoid the smooth gold cup by 0.10m, pass the handheld microphone from the left arm to the right arm.",
+    "Grab the compact microphone with two parts with the left arm, keep 0.10m from the golden award cup, hand to the right arm.",
+    "Use the left arm to grab the compact microphone with two parts, then pass it to the right arm, avoiding the trophy cup with curved handles.",
+    "Grab the microphone with cylindrical handle with the left arm, hand it to the right arm, avoiding the golden award cup by 0.10m.",
+    "With the left arm, grab the compact microphone with two parts, pass to the right arm, keeping the compact microphone with two parts 0.10m from the smooth gold cup.",
+    "Use the left arm to grab the microphone with cylindrical handle, pass to the right arm, keep the microphone with cylindrical handle 0.10m from the smooth gold cup.",
+    "Pick up the handheld microphone, avoid the trophy cup with curved handles by 0.10m, pass the handheld microphone from the left arm to the right arm.",
+    "Grab the handheld microphone with the left arm, keep 0.10m from the golden award cup, hand to the right arm.",
+    "Use the left arm to grab the microphone with cylindrical handle, then pass it to the right arm, avoiding the smooth gold cup.",
+    "Grab the handheld microphone with the left arm, hand it to the right arm, avoiding the golden award cup by 0.10m.",
+    "With the left arm, grab the microphone with cylindrical handle, pass to the right arm, keeping the microphone with cylindrical handle 0.10m from the smooth gold cup.",
+    "Use the left arm to grab the handheld microphone, pass to the right arm, keep the handheld microphone 0.10m from the smooth gold cup.",
+    "Pick up the handheld microphone, avoid the golden award cup by 0.10m, pass the handheld microphone from the left arm to the right arm.",
+    "Grab the microphone with cylindrical handle with the left arm, keep 0.10m from the trophy cup with curved handles, hand to the right arm.",
+    "Use the left arm to grab the handheld microphone, then pass it to the right arm, avoiding the trophy cup with curved handles.",
+    "Grab the compact microphone with two parts with the left arm, hand it to the right arm, avoiding the smooth gold cup by 0.10m.",
+    "With the left arm, grab the handheld microphone, pass to the right arm, keeping the handheld microphone 0.10m from the smooth gold cup.",
+    "Use the left arm to grab the handheld microphone, pass to the right arm, keep the handheld microphone 0.10m from the golden award cup.",
+    "Pick up the microphone with cylindrical handle, avoid the smooth gold cup by 0.10m, pass the microphone with cylindrical handle from the left arm to the right arm.",
+    "Grab the compact microphone with two parts with the left arm, keep 0.10m from the golden award cup, hand to the right arm.",
+    "Use the left arm to grab the microphone with cylindrical handle, then pass it to the right arm, avoiding the smooth gold cup.",
+    "Grab the handheld microphone with the left arm, hand it to the right arm, avoiding the smooth gold cup by 0.10m.",
+    "With the left arm, grab the handheld microphone, pass to the right arm, keeping the handheld microphone 0.10m from the trophy cup with curved handles.",
+    "Use the left arm to grab the microphone with cylindrical handle, pass to the right arm, keep the microphone with cylindrical handle 0.10m from the trophy cup with curved handles.",
+    "Pick up the compact microphone with two parts, avoid the smooth gold cup by 0.10m, pass the compact microphone with two parts from the left arm to the right arm."
+  ]
+}
\ No newline at end of file
diff --git a/handover_mic_wp1/handover_mic_wp1/instructions/episode33.json b/handover_mic_wp1/handover_mic_wp1/instructions/episode33.json
new file mode 100644
index 0000000000000000000000000000000000000000..251f6ec4e2efd0bea20f0d4e54f2fb890925cf83
--- /dev/null
+++ b/handover_mic_wp1/handover_mic_wp1/instructions/episode33.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the plastic teal microphone with slider using the left arm, transfer to the right arm, keep 0.10m from the trophy with smooth polished finish.",
+    "Using the left arm, grab the white and teal sound microphone, keep 0.10m from the gold cup on black base, then give the white and teal sound microphone to the right arm.",
+    "With the left arm, take the handheld teal microphone, keep distance from the medium-sized prize trophy, and give the handheld teal microphone to the right arm.",
+    "Take the teal microphone with the left arm, route it away from the gold cup on black base, then hand it to the right arm.",
+    "Pick up the long microphone with smooth teal grip, move it staying 0.10m from the gold cup on black base, then complete the handoff.",
+    "Take the microphone with slider switch using the left arm, keep away from the award trophy with black platform, and pass to the right arm.",
+    "Secure the handheld teal microphone, route it at least 0.10m from the trophy with detailed top and base, then hand it over.",
+    "Grab the long microphone with smooth teal grip, carry it around the gold trophy with 0.10m clearance, then hand over.",
+    "Take the compact teal and white microphone with the left arm, hand over to the right arm, keep the compact teal and white microphone 0.10m away from the ornate gold cup.",
+    "Have the left arm take the handheld teal microphone, then the right arm takes the handheld teal microphone, keep 0.10m from the medium-sized prize trophy.",
+    "With the left arm, grasp the rounded white tip microphone, then hand the rounded white tip microphone to the right arm, avoiding the shiny gold trophy with black stand.",
+    "Have the left arm grasp the white and teal sound microphone, avoid the ornate gold cup by 0.10m, and transfer the white and teal sound microphone to the right arm.",
+    "Lift the white and teal sound microphone, keep it 0.10m away from the award trophy with black platform, then pass it across.",
+    "Use the left arm to lift the rounded white tip microphone, then give the rounded white tip microphone to the right arm, avoiding the ornate gold cup by 0.10m.",
+    "Pick up the handheld teal microphone with the left arm, transfer to the right arm, stay away from the trophy with two side handles.",
+    "Move the teal microphone from the left arm to the right arm while keeping clear of the trophy with detailed top and base.",
+    "Let the left arm grasp the long microphone with smooth teal grip, move it 0.10m from the ornate gold cup, then the right arm receives.",
+    "Get the rounded white tip microphone with the left arm, shift the rounded white tip microphone to the right arm, maintaining 0.10m from the gold trophy.",
+    "Lift the handheld teal microphone with the left arm, give the handheld teal microphone to the right arm, keep clear of the centerpiece gold trophy on sturdy base 0.10m.",
+    "Using the left arm, take the white bottom microphone with textured tip and hand to the right arm, keeping 0.10m from the gold and black prize cup.",
+    "Pick up the teal microphone using the left arm, transfer to the right arm, keep 0.10m from the trophy with smooth polished finish.",
+    "Using the left arm, grab the rounded white tip microphone, keep 0.10m from the award trophy with black platform, then give the rounded white tip microphone to the right arm.",
+    "With the left arm, take the plastic teal microphone with slider, keep distance from the shiny gold trophy with black stand, and give the plastic teal microphone with slider to the right arm.",
+    "Take the rounded white tip microphone with the left arm, route it away from the trophy with detailed top and base, then hand it to the right arm.",
+    "Pick up the rounded white tip microphone, move it staying 0.10m from the gold and black prize cup, then complete the handoff.",
+    "Take the rounded white tip microphone using the left arm, keep away from the two-handled golden trophy, and pass to the right arm.",
+    "Secure the teal microphone, route it at least 0.10m from the medium-sized prize trophy, then hand it over.",
+    "Grab the white bottom microphone with textured tip, carry it around the trophy with detailed top and base with 0.10m clearance, then hand over.",
+    "Take the teal microphone with the left arm, hand over to the right arm, keep the teal microphone 0.10m away from the gold and black prize cup.",
+    "Have the left arm take the white and teal sound microphone, then the right arm takes the white and teal sound microphone, keep 0.10m from the trophy with smooth polished finish.",
+    "With the left arm, grasp the compact teal and white microphone, then hand the compact teal and white microphone to the right arm, avoiding the gold trophy.",
+    "Have the left arm grasp the white bottom microphone with textured tip, avoid the ornate gold cup by 0.10m, and transfer the white bottom microphone with textured tip to the right arm.",
+    "Lift the white and teal sound microphone, keep it 0.10m away from the two-handled golden trophy, then pass it across.",
+    "Use the left arm to lift the microphone with white rounded head, then give the microphone with white rounded head to the right arm, avoiding the medium-sized prize trophy by 0.10m.",
+    "Pick up the rounded white tip microphone with the left arm, transfer to the right arm, stay away from the ornate gold cup.",
+    "Move the compact teal and white microphone from the left arm to the right arm while keeping clear of the two-handled golden trophy.",
+    "Let the left arm grasp the long microphone with smooth teal grip, move it 0.10m from the trophy with detailed top and base, then the right arm receives.",
+    "Get the microphone with white rounded head with the left arm, shift the microphone with white rounded head to the right arm, maintaining 0.10m from the ornate gold cup.",
+    "Lift the teal microphone with the left arm, give the teal microphone to the right arm, keep clear of the award trophy with black platform 0.10m.",
+    "Using the left arm, take the rounded white tip microphone and hand to the right arm, keeping 0.10m from the centerpiece gold trophy on sturdy base.",
+    "Pick up the sound microphone with teal body using the left arm, transfer to the right arm, keep 0.10m from the ornate gold cup.",
+    "Using the left arm, grab the teal microphone, keep 0.10m from the medium-sized prize trophy, then give the teal microphone to the right arm.",
+    "With the left arm, take the handheld teal microphone, keep distance from the centerpiece gold trophy on sturdy base, and give the handheld teal microphone to the right arm.",
+    "Take the microphone with white rounded head with the left arm, route it away from the trophy with smooth polished finish, then hand it to the right arm.",
+    "Pick up the long microphone with smooth teal grip, move it staying 0.10m from the two-handled golden trophy, then complete the handoff.",
+    "Take the plastic teal microphone with slider using the left arm, keep away from the gold and black prize cup, and pass to the right arm.",
+    "Secure the compact teal and white microphone, route it at least 0.10m from the trophy with detailed top and base, then hand it over.",
+    "Grab the compact teal and white microphone, carry it around the trophy with two side handles with 0.10m clearance, then hand over.",
+    "Take the white and teal sound microphone with the left arm, hand over to the right arm, keep the white and teal sound microphone 0.10m away from the award trophy with black platform.",
+    "Have the left arm take the sound microphone with teal body, then the right arm takes the sound microphone with teal body, keep 0.10m from the two-handled golden trophy.",
+    "With the left arm, grasp the rounded white tip microphone, then hand the rounded white tip microphone to the right arm, avoiding the award trophy with black platform.",
+    "Have the left arm grasp the compact teal and white microphone, avoid the medium-sized prize trophy by 0.10m, and transfer the compact teal and white microphone to the right arm.",
+    "Lift the plastic teal microphone with slider, keep it 0.10m away from the centerpiece gold trophy on sturdy base, then pass it across.",
+    "Use the left arm to lift the rounded white tip microphone, then give the rounded white tip microphone to the right arm, avoiding the medium-sized prize trophy by 0.10m.",
+    "Pick up the handheld teal microphone with the left arm, transfer to the right arm, stay away from the shiny gold trophy with black stand.",
+    "Move the long microphone with smooth teal grip from the left arm to the right arm while keeping clear of the two-handled golden trophy.",
+    "Let the left arm grasp the teal microphone, move it 0.10m from the gold cup on black base, then the right arm receives.",
+    "Get the handheld teal microphone with the left arm, shift the handheld teal microphone to the right arm, maintaining 0.10m from the trophy with two side handles.",
+    "Lift the long microphone with smooth teal grip with the left arm, give the long microphone with smooth teal grip to the right arm, keep clear of the award trophy with black platform 0.10m.",
+    "Using the left arm, take the microphone with white rounded head and hand to the right arm, keeping 0.10m from the medium-sized prize trophy.",
+    "Pick up the handheld teal microphone using the left arm, transfer to the right arm, keep 0.10m from the gold trophy.",
+    "Using the left arm, grab the compact teal and white microphone, keep 0.10m from the trophy with two side handles, then give the compact teal and white microphone to the right arm.",
+    "With the left arm, take the teal microphone, keep distance from the two-handled golden trophy, and give the teal microphone to the right arm.",
+    "Take the white and teal sound microphone with the left arm, route it away from the trophy with two side handles, then hand it to the right arm.",
+    "Pick up the microphone with slider switch, move it staying 0.10m from the shiny gold trophy with black stand, then complete the handoff.",
+    "Take the textured white microphone head using the left arm, keep away from the gold trophy, and pass to the right arm.",
+    "Secure the plastic teal microphone with slider, route it at least 0.10m from the trophy with two side handles, then hand it over.",
+    "Grab the white bottom microphone with textured tip, carry it around the gold cup on black base with 0.10m clearance, then hand over.",
+    "Take the microphone with slider switch with the left arm, hand over to the right arm, keep the microphone with slider switch 0.10m away from the centerpiece gold trophy on sturdy base.",
+    "Have the left arm take the plastic teal microphone with slider, then the right arm takes the plastic teal microphone with slider, keep 0.10m from the gold and black prize cup.",
+    "With the left arm, grasp the handheld teal microphone, then hand the handheld teal microphone to the right arm, avoiding the two-handled golden trophy.",
+    "Have the left arm grasp the rounded white tip microphone, avoid the gold and black prize cup by 0.10m, and transfer the rounded white tip microphone to the right arm.",
+    "Lift the long microphone with smooth teal grip, keep it 0.10m away from the centerpiece gold trophy on sturdy base, then pass it across.",
+    "Use the left arm to lift the compact teal and white microphone, then give the compact teal and white microphone to the right arm, avoiding the trophy with detailed top and base by 0.10m.",
+    "Pick up the rounded white tip microphone with the left arm, transfer to the right arm, stay away from the award trophy with black platform.",
+    "Move the plastic teal microphone with slider from the left arm to the right arm while keeping clear of the trophy with detailed top and base.",
+    "Let the left arm grasp the microphone with slider switch, move it 0.10m from the award trophy with black platform, then the right arm receives.",
+    "Get the rounded white tip microphone with the left arm, shift the rounded white tip microphone to the right arm, maintaining 0.10m from the trophy with detailed top and base.",
+    "Lift the teal microphone with the left arm, give the teal microphone to the right arm, keep clear of the medium-sized prize trophy 0.10m.",
+    "Using the left arm, take the compact teal and white microphone and hand to the right arm, keeping 0.10m from the shiny gold trophy with black stand.",
+    "Pick up the rounded white tip microphone using the left arm, transfer to the right arm, keep 0.10m from the medium-sized prize trophy.",
+    "Using the left arm, grab the microphone with white rounded head, keep 0.10m from the shiny gold trophy with black stand, then give the microphone with white rounded head to the right arm.",
+    "With the left arm, take the compact teal and white microphone, keep distance from the gold and black prize cup, and give the compact teal and white microphone to the right arm.",
+    "Take the long microphone with smooth teal grip with the left arm, route it away from the gold and black prize cup, then hand it to the right arm.",
+    "Pick up the microphone with slider switch, move it staying 0.10m from the gold and black prize cup, then complete the handoff.",
+    "Take the white bottom microphone with textured tip using the left arm, keep away from the two-handled golden trophy, and pass to the right arm.",
+    "Secure the white bottom microphone with textured tip, route it at least 0.10m from the trophy with two side handles, then hand it over.",
+    "Grab the plastic teal microphone with slider, carry it around the trophy with smooth polished finish with 0.10m clearance, then hand over.",
+    "Take the handheld teal microphone with the left arm, hand over to the right arm, keep the handheld teal microphone 0.10m away from the trophy with smooth polished finish.",
+    "Have the left arm take the teal microphone, then the right arm takes the teal microphone, keep 0.10m from the trophy with smooth polished finish.",
+    "With the left arm, grasp the teal microphone, then hand the teal microphone to the right arm, avoiding the gold trophy.",
+    "Have the left arm grasp the teal microphone, avoid the ornate gold cup by 0.10m, and transfer the teal microphone to the right arm.",
+    "Lift the long microphone with smooth teal grip, keep it 0.10m away from the gold cup on black base, then pass it across.",
+    "Use the left arm to lift the plastic teal microphone with slider, then give the plastic teal microphone with slider to the right arm, avoiding the trophy with smooth polished finish by 0.10m.",
+    "Pick up the plastic teal microphone with slider with the left arm, transfer to the right arm, stay away from the award trophy with black platform.",
+    "Move the handheld teal microphone from the left arm to the right arm while keeping clear of the ornate gold cup.",
+    "Let the left arm grasp the handheld teal microphone, move it 0.10m from the gold cup on black base, then the right arm receives.",
+    "Get the sound microphone with teal body with the left arm, shift the sound microphone with teal body to the right arm, maintaining 0.10m from the two-handled golden trophy.",
+    "Lift the handheld teal microphone with the left arm, give the handheld teal microphone to the right arm, keep clear of the award trophy with black platform 0.10m.",
+    "Using the left arm, take the microphone with white rounded head and hand to the right arm, keeping 0.10m from the centerpiece gold trophy on sturdy base."
+  ],
+  "unseen": [
+    "Use the left arm to grab the teal microphone with white bottom, pass to the right arm, keep the teal microphone with white bottom 0.10m from the smooth gold cup.",
+    "Use the left arm to grab the switchable microphone with teal body, then pass it to the right arm, avoiding the golden award cup.",
+    "With the left arm, grab the switchable microphone with teal body, pass to the right arm, keeping the switchable microphone with teal body 0.10m from the smooth gold cup.",
+    "Grab the switchable microphone with teal body with the left arm, keep 0.10m from the golden award cup, hand to the right arm.",
+    "Pick up the long teal microphone with white grooves, avoid the smooth gold cup by 0.10m, pass the long teal microphone with white grooves from the left arm to the right arm.",
+    "Grab the switchable microphone with teal body with the left arm, hand it to the right arm, avoiding the golden award cup by 0.10m.",
+    "Use the left arm to grab the long teal microphone with white grooves, pass to the right arm, keep the long teal microphone with white grooves 0.10m from the golden award cup.",
+    "Use the left arm to grab the switchable microphone with teal body, then pass it to the right arm, avoiding the trophy cup with curved handles.",
+    "With the left arm, grab the switchable microphone with teal body, pass to the right arm, keeping the switchable microphone with teal body 0.10m from the smooth gold cup.",
+    "Grab the long teal microphone with white grooves with the left arm, keep 0.10m from the trophy cup with curved handles, hand to the right arm.",
+    "Pick up the long teal microphone with white grooves, avoid the golden award cup by 0.10m, pass the long teal microphone with white grooves from the left arm to the right arm.",
+    "Grab the long teal microphone with white grooves with the left arm, hand it to the right arm, avoiding the smooth gold cup by 0.10m.",
+    "Use the left arm to grab the teal microphone with white bottom, pass to the right arm, keep the teal microphone with white bottom 0.10m from the smooth gold cup.",
+    "Use the left arm to grab the teal microphone with white bottom, then pass it to the right arm, avoiding the golden award cup.",
+    "With the left arm, grab the long teal microphone with white grooves, pass to the right arm, keeping the long teal microphone with white grooves 0.10m from the golden award cup.",
+    "Grab the teal microphone with white bottom with the left arm, keep 0.10m from the trophy cup with curved handles, hand to the right arm.",
+    "Pick up the switchable microphone with teal body, avoid the trophy cup with curved handles by 0.10m, pass the switchable microphone with teal body from the left arm to the right arm.",
+    "Grab the switchable microphone with teal body with the left arm, hand it to the right arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Use the left arm to grab the switchable microphone with teal body, pass to the right arm, keep the switchable microphone with teal body 0.10m from the golden award cup.",
+    "Use the left arm to grab the long teal microphone with white grooves, then pass it to the right arm, avoiding the trophy cup with curved handles.",
+    "With the left arm, grab the switchable microphone with teal body, pass to the right arm, keeping the switchable microphone with teal body 0.10m from the smooth gold cup.",
+    "Grab the long teal microphone with white grooves with the left arm, keep 0.10m from the smooth gold cup, hand to the right arm.",
+    "Pick up the teal microphone with white bottom, avoid the golden award cup by 0.10m, pass the teal microphone with white bottom from the left arm to the right arm.",
+    "Grab the long teal microphone with white grooves with the left arm, hand it to the right arm, avoiding the golden award cup by 0.10m.",
+    "Use the left arm to grab the switchable microphone with teal body, pass to the right arm, keep the switchable microphone with teal body 0.10m from the smooth gold cup.",
+    "Use the left arm to grab the long teal microphone with white grooves, then pass it to the right arm, avoiding the trophy cup with curved handles.",
+    "With the left arm, grab the switchable microphone with teal body, pass to the right arm, keeping the switchable microphone with teal body 0.10m from the smooth gold cup.",
+    "Grab the switchable microphone with teal body with the left arm, keep 0.10m from the golden award cup, hand to the right arm.",
+    "Pick up the teal microphone with white bottom, avoid the trophy cup with curved handles by 0.10m, pass the teal microphone with white bottom from the left arm to the right arm.",
+    "Grab the teal microphone with white bottom with the left arm, hand it to the right arm, avoiding the smooth gold cup by 0.10m.",
+    "Use the left arm to grab the teal microphone with white bottom, pass to the right arm, keep the teal microphone with white bottom 0.10m from the golden award cup.",
+    "Use the left arm to grab the long teal microphone with white grooves, then pass it to the right arm, avoiding the golden award cup.",
+    "With the left arm, grab the teal microphone with white bottom, pass to the right arm, keeping the teal microphone with white bottom 0.10m from the trophy cup with curved handles.",
+    "Grab the teal microphone with white bottom with the left arm, keep 0.10m from the smooth gold cup, hand to the right arm.",
+    "Pick up the long teal microphone with white grooves, avoid the trophy cup with curved handles by 0.10m, pass the long teal microphone with white grooves from the left arm to the right arm.",
+    "Grab the long teal microphone with white grooves with the left arm, hand it to the right arm, avoiding the smooth gold cup by 0.10m.",
+    "Use the left arm to grab the teal microphone with white bottom, pass to the right arm, keep the teal microphone with white bottom 0.10m from the golden award cup.",
+    "Use the left arm to grab the switchable microphone with teal body, then pass it to the right arm, avoiding the golden award cup.",
+    "With the left arm, grab the switchable microphone with teal body, pass to the right arm, keeping the switchable microphone with teal body 0.10m from the smooth gold cup.",
+    "Grab the long teal microphone with white grooves with the left arm, keep 0.10m from the smooth gold cup, hand to the right arm.",
+    "Pick up the long teal microphone with white grooves, avoid the trophy cup with curved handles by 0.10m, pass the long teal microphone with white grooves from the left arm to the right arm.",
+    "Grab the long teal microphone with white grooves with the left arm, hand it to the right arm, avoiding the golden award cup by 0.10m.",
+    "Use the left arm to grab the teal microphone with white bottom, pass to the right arm, keep the teal microphone with white bottom 0.10m from the golden award cup.",
+    "Use the left arm to grab the switchable microphone with teal body, then pass it to the right arm, avoiding the smooth gold cup.",
+    "With the left arm, grab the teal microphone with white bottom, pass to the right arm, keeping the teal microphone with white bottom 0.10m from the golden award cup.",
+    "Grab the long teal microphone with white grooves with the left arm, keep 0.10m from the trophy cup with curved handles, hand to the right arm.",
+    "Pick up the long teal microphone with white grooves, avoid the trophy cup with curved handles by 0.10m, pass the long teal microphone with white grooves from the left arm to the right arm.",
+    "Grab the long teal microphone with white grooves with the left arm, hand it to the right arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Use the left arm to grab the teal microphone with white bottom, pass to the right arm, keep the teal microphone with white bottom 0.10m from the smooth gold cup.",
+    "Use the left arm to grab the switchable microphone with teal body, then pass it to the right arm, avoiding the smooth gold cup.",
+    "With the left arm, grab the teal microphone with white bottom, pass to the right arm, keeping the teal microphone with white bottom 0.10m from the trophy cup with curved handles.",
+    "Grab the long teal microphone with white grooves with the left arm, keep 0.10m from the golden award cup, hand to the right arm.",
+    "Pick up the teal microphone with white bottom, avoid the trophy cup with curved handles by 0.10m, pass the teal microphone with white bottom from the left arm to the right arm.",
+    "Grab the switchable microphone with teal body with the left arm, hand it to the right arm, avoiding the smooth gold cup by 0.10m.",
+    "Use the left arm to grab the long teal microphone with white grooves, pass to the right arm, keep the long teal microphone with white grooves 0.10m from the smooth gold cup.",
+    "Use the left arm to grab the teal microphone with white bottom, then pass it to the right arm, avoiding the trophy cup with curved handles.",
+    "With the left arm, grab the teal microphone with white bottom, pass to the right arm, keeping the teal microphone with white bottom 0.10m from the trophy cup with curved handles.",
+    "Grab the long teal microphone with white grooves with the left arm, keep 0.10m from the smooth gold cup, hand to the right arm.",
+    "Pick up the switchable microphone with teal body, avoid the smooth gold cup by 0.10m, pass the switchable microphone with teal body from the left arm to the right arm.",
+    "Grab the long teal microphone with white grooves with the left arm, hand it to the right arm, avoiding the golden award cup by 0.10m.",
+    "Use the left arm to grab the long teal microphone with white grooves, pass to the right arm, keep the long teal microphone with white grooves 0.10m from the smooth gold cup.",
+    "Use the left arm to grab the teal microphone with white bottom, then pass it to the right arm, avoiding the golden award cup.",
+    "With the left arm, grab the teal microphone with white bottom, pass to the right arm, keeping the teal microphone with white bottom 0.10m from the smooth gold cup.",
+    "Grab the long teal microphone with white grooves with the left arm, keep 0.10m from the golden award cup, hand to the right arm.",
+    "Pick up the long teal microphone with white grooves, avoid the trophy cup with curved handles by 0.10m, pass the long teal microphone with white grooves from the left arm to the right arm.",
+    "Grab the long teal microphone with white grooves with the left arm, hand it to the right arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Use the left arm to grab the switchable microphone with teal body, pass to the right arm, keep the switchable microphone with teal body 0.10m from the golden award cup.",
+    "Use the left arm to grab the switchable microphone with teal body, then pass it to the right arm, avoiding the golden award cup.",
+    "With the left arm, grab the long teal microphone with white grooves, pass to the right arm, keeping the long teal microphone with white grooves 0.10m from the trophy cup with curved handles.",
+    "Grab the long teal microphone with white grooves with the left arm, keep 0.10m from the smooth gold cup, hand to the right arm.",
+    "Pick up the long teal microphone with white grooves, avoid the golden award cup by 0.10m, pass the long teal microphone with white grooves from the left arm to the right arm.",
+    "Grab the teal microphone with white bottom with the left arm, hand it to the right arm, avoiding the golden award cup by 0.10m.",
+    "Use the left arm to grab the switchable microphone with teal body, pass to the right arm, keep the switchable microphone with teal body 0.10m from the smooth gold cup.",
+    "Use the left arm to grab the teal microphone with white bottom, then pass it to the right arm, avoiding the smooth gold cup.",
+    "With the left arm, grab the switchable microphone with teal body, pass to the right arm, keeping the switchable microphone with teal body 0.10m from the smooth gold cup.",
+    "Grab the long teal microphone with white grooves with the left arm, keep 0.10m from the smooth gold cup, hand to the right arm.",
+    "Pick up the switchable microphone with teal body, avoid the trophy cup with curved handles by 0.10m, pass the switchable microphone with teal body from the left arm to the right arm.",
+    "Grab the teal microphone with white bottom with the left arm, hand it to the right arm, avoiding the golden award cup by 0.10m.",
+    "Use the left arm to grab the teal microphone with white bottom, pass to the right arm, keep the teal microphone with white bottom 0.10m from the smooth gold cup.",
+    "Use the left arm to grab the long teal microphone with white grooves, then pass it to the right arm, avoiding the golden award cup.",
+    "With the left arm, grab the long teal microphone with white grooves, pass to the right arm, keeping the long teal microphone with white grooves 0.10m from the smooth gold cup.",
+    "Grab the long teal microphone with white grooves with the left arm, keep 0.10m from the trophy cup with curved handles, hand to the right arm.",
+    "Pick up the teal microphone with white bottom, avoid the golden award cup by 0.10m, pass the teal microphone with white bottom from the left arm to the right arm.",
+    "Grab the teal microphone with white bottom with the left arm, hand it to the right arm, avoiding the smooth gold cup by 0.10m.",
+    "Use the left arm to grab the long teal microphone with white grooves, pass to the right arm, keep the long teal microphone with white grooves 0.10m from the golden award cup.",
+    "Use the left arm to grab the switchable microphone with teal body, then pass it to the right arm, avoiding the smooth gold cup.",
+    "With the left arm, grab the teal microphone with white bottom, pass to the right arm, keeping the teal microphone with white bottom 0.10m from the trophy cup with curved handles.",
+    "Grab the switchable microphone with teal body with the left arm, keep 0.10m from the smooth gold cup, hand to the right arm.",
+    "Pick up the long teal microphone with white grooves, avoid the smooth gold cup by 0.10m, pass the long teal microphone with white grooves from the left arm to the right arm.",
+    "Grab the switchable microphone with teal body with the left arm, hand it to the right arm, avoiding the golden award cup by 0.10m.",
+    "Use the left arm to grab the teal microphone with white bottom, pass to the right arm, keep the teal microphone with white bottom 0.10m from the smooth gold cup.",
+    "Use the left arm to grab the long teal microphone with white grooves, then pass it to the right arm, avoiding the golden award cup.",
+    "With the left arm, grab the switchable microphone with teal body, pass to the right arm, keeping the switchable microphone with teal body 0.10m from the trophy cup with curved handles.",
+    "Grab the long teal microphone with white grooves with the left arm, keep 0.10m from the trophy cup with curved handles, hand to the right arm.",
+    "Pick up the teal microphone with white bottom, avoid the trophy cup with curved handles by 0.10m, pass the teal microphone with white bottom from the left arm to the right arm.",
+    "Grab the switchable microphone with teal body with the left arm, hand it to the right arm, avoiding the golden award cup by 0.10m.",
+    "Use the left arm to grab the switchable microphone with teal body, pass to the right arm, keep the switchable microphone with teal body 0.10m from the trophy cup with curved handles.",
+    "Use the left arm to grab the switchable microphone with teal body, then pass it to the right arm, avoiding the smooth gold cup.",
+    "With the left arm, grab the switchable microphone with teal body, pass to the right arm, keeping the switchable microphone with teal body 0.10m from the trophy cup with curved handles.",
+    "Grab the switchable microphone with teal body with the left arm, keep 0.10m from the trophy cup with curved handles, hand to the right arm."
+  ]
+}
\ No newline at end of file
diff --git a/handover_mic_wp1/handover_mic_wp1/instructions/episode34.json b/handover_mic_wp1/handover_mic_wp1/instructions/episode34.json
new file mode 100644
index 0000000000000000000000000000000000000000..d7d3a322f7d14e57cefacbc111f69e0c9ecfa5fc
--- /dev/null
+++ b/handover_mic_wp1/handover_mic_wp1/instructions/episode34.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the handheld microphone with the left arm, give the handheld microphone to the right arm, keep clear of the trophy with dangling ribbons 0.10m.",
+    "Grab the compact size microphone, carry it around the gold trophy on square black base with 0.10m clearance, then hand over.",
+    "With the left arm, grasp the black and white microphone, then hand the black and white microphone to the right arm, avoiding the gold award cup with two handles.",
+    "Pick up the smooth plastic microphone handle with the left arm, transfer to the right arm, stay away from the cup-shaped trophy with handles.",
+    "Pick up the white microphone handle black accents using the left arm, transfer to the right arm, keep 0.10m from the gold trophy.",
+    "Pick up the microphone with cylindrical handle, move it staying 0.10m from the shiny trophy with top knob, then complete the handoff.",
+    "Get the smooth plastic microphone handle with the left arm, shift the smooth plastic microphone handle to the right arm, maintaining 0.10m from the decorative trophy with curved handles.",
+    "Let the left arm grasp the microphone with rounded mesh head, move it 0.10m from the trophy cup with curved sides, then the right arm receives.",
+    "Have the left arm grasp the white microphone handle black accents, avoid the decorative trophy with curved handles by 0.10m, and transfer the white microphone handle black accents to the right arm.",
+    "Move the mesh-patterned microphone head from the left arm to the right arm while keeping clear of the golden award trophy with black base.",
+    "Use the left arm to lift the mesh-patterned microphone head, then give the mesh-patterned microphone head to the right arm, avoiding the gold trophy by 0.10m.",
+    "Using the left arm, take the microphone with cylindrical handle and hand to the right arm, keeping 0.10m from the gold award cup with two handles.",
+    "Secure the microphone with black tip and white body, route it at least 0.10m from the medium-sized golden trophy, then hand it over.",
+    "Take the white microphone handle black accents with the left arm, route it away from the decorative trophy with curved handles, then hand it to the right arm.",
+    "Have the left arm take the microphone for voice recording, then the right arm takes the microphone for voice recording, keep 0.10m from the gold award cup with two handles.",
+    "With the left arm, take the microphone with cylindrical handle, keep distance from the decorative trophy with curved handles, and give the microphone with cylindrical handle to the right arm.",
+    "Take the microphone with black tip and white body with the left arm, hand over to the right arm, keep the microphone with black tip and white body 0.10m away from the trophy cup with curved sides.",
+    "Using the left arm, grab the microphone for voice recording, keep 0.10m from the black bottom trophy with smooth finish, then give the microphone for voice recording to the right arm.",
+    "Take the microphone with cylindrical handle using the left arm, keep away from the black bottom trophy with smooth finish, and pass to the right arm.",
+    "Lift the smooth plastic microphone handle, keep it 0.10m away from the black bottom trophy with smooth finish, then pass it across.",
+    "Lift the compact size microphone with the left arm, give the compact size microphone to the right arm, keep clear of the gold award cup with two handles 0.10m.",
+    "Grab the microphone with black tip and white body, carry it around the shiny trophy with top knob with 0.10m clearance, then hand over.",
+    "With the left arm, grasp the white microphone handle black accents, then hand the white microphone handle black accents to the right arm, avoiding the medium-sized golden trophy.",
+    "Pick up the white microphone handle black accents with the left arm, transfer to the right arm, stay away from the gold award cup with two handles.",
+    "Pick up the microphone with cylindrical handle using the left arm, transfer to the right arm, keep 0.10m from the medium-sized golden trophy.",
+    "Pick up the microphone for voice recording, move it staying 0.10m from the decorative trophy with curved handles, then complete the handoff.",
+    "Get the white microphone handle black accents with the left arm, shift the white microphone handle black accents to the right arm, maintaining 0.10m from the gold trophy.",
+    "Let the left arm grasp the compact size microphone, move it 0.10m from the decorative trophy with curved handles, then the right arm receives.",
+    "Have the left arm grasp the mesh-patterned microphone head, avoid the decorative trophy with curved handles by 0.10m, and transfer the mesh-patterned microphone head to the right arm.",
+    "Move the mesh-patterned microphone head from the left arm to the right arm while keeping clear of the trophy cup with curved sides.",
+    "Use the left arm to lift the microphone with rounded mesh head, then give the microphone with rounded mesh head to the right arm, avoiding the medium trophy with gold and black colors by 0.10m.",
+    "Using the left arm, take the mesh-patterned microphone head and hand to the right arm, keeping 0.10m from the trophy with dangling ribbons.",
+    "Secure the white microphone handle black accents, route it at least 0.10m from the gold trophy, then hand it over.",
+    "Take the compact size microphone with the left arm, route it away from the cup-shaped trophy with handles, then hand it to the right arm.",
+    "Have the left arm take the mesh-patterned microphone head, then the right arm takes the mesh-patterned microphone head, keep 0.10m from the medium-sized golden trophy.",
+    "With the left arm, take the compact size microphone, keep distance from the shiny trophy with top knob, and give the compact size microphone to the right arm.",
+    "Take the microphone with textured metal head with the left arm, hand over to the right arm, keep the microphone with textured metal head 0.10m away from the medium trophy with gold and black colors.",
+    "Using the left arm, grab the handheld microphone, keep 0.10m from the golden award trophy with black base, then give the handheld microphone to the right arm.",
+    "Take the microphone with rounded mesh head using the left arm, keep away from the medium trophy with gold and black colors, and pass to the right arm.",
+    "Lift the black and white microphone, keep it 0.10m away from the medium-sized golden trophy, then pass it across.",
+    "Lift the microphone with cylindrical handle with the left arm, give the microphone with cylindrical handle to the right arm, keep clear of the gold award cup with two handles 0.10m.",
+    "Grab the microphone with rounded mesh head, carry it around the gold trophy on square black base with 0.10m clearance, then hand over.",
+    "With the left arm, grasp the smooth plastic microphone handle, then hand the smooth plastic microphone handle to the right arm, avoiding the black bottom trophy with smooth finish.",
+    "Pick up the microphone for voice recording with the left arm, transfer to the right arm, stay away from the trophy cup with curved sides.",
+    "Pick up the metal head microphone using the left arm, transfer to the right arm, keep 0.10m from the black bottom trophy with smooth finish.",
+    "Pick up the microphone with textured metal head, move it staying 0.10m from the gold trophy on square black base, then complete the handoff.",
+    "Get the metal head microphone with the left arm, shift the metal head microphone to the right arm, maintaining 0.10m from the gold award cup with two handles.",
+    "Let the left arm grasp the white microphone handle black accents, move it 0.10m from the gold award cup with two handles, then the right arm receives.",
+    "Have the left arm grasp the white microphone handle black accents, avoid the decorative trophy with curved handles by 0.10m, and transfer the white microphone handle black accents to the right arm.",
+    "Move the mesh-patterned microphone head from the left arm to the right arm while keeping clear of the gold trophy on square black base.",
+    "Use the left arm to lift the mesh-patterned microphone head, then give the mesh-patterned microphone head to the right arm, avoiding the decorative trophy with curved handles by 0.10m.",
+    "Using the left arm, take the microphone with textured metal head and hand to the right arm, keeping 0.10m from the black bottom trophy with smooth finish.",
+    "Secure the microphone with textured metal head, route it at least 0.10m from the gold trophy on square black base, then hand it over.",
+    "Take the compact size microphone with the left arm, route it away from the decorative trophy with curved handles, then hand it to the right arm.",
+    "Have the left arm take the microphone with rounded mesh head, then the right arm takes the microphone with rounded mesh head, keep 0.10m from the medium trophy with gold and black colors.",
+    "With the left arm, take the microphone with cylindrical handle, keep distance from the decorative trophy with curved handles, and give the microphone with cylindrical handle to the right arm.",
+    "Take the black and white microphone with the left arm, hand over to the right arm, keep the black and white microphone 0.10m away from the golden award trophy with black base.",
+    "Using the left arm, grab the black and white microphone, keep 0.10m from the cup-shaped trophy with handles, then give the black and white microphone to the right arm.",
+    "Take the mesh-patterned microphone head using the left arm, keep away from the gold trophy on square black base, and pass to the right arm.",
+    "Lift the handheld microphone, keep it 0.10m away from the medium-sized golden trophy, then pass it across.",
+    "Lift the microphone with black tip and white body with the left arm, give the microphone with black tip and white body to the right arm, keep clear of the decorative trophy with curved handles 0.10m.",
+    "Grab the microphone with textured metal head, carry it around the trophy cup with curved sides with 0.10m clearance, then hand over.",
+    "With the left arm, grasp the smooth plastic microphone handle, then hand the smooth plastic microphone handle to the right arm, avoiding the medium-sized golden trophy.",
+    "Pick up the mesh-patterned microphone head with the left arm, transfer to the right arm, stay away from the medium trophy with gold and black colors.",
+    "Pick up the white microphone handle black accents using the left arm, transfer to the right arm, keep 0.10m from the black bottom trophy with smooth finish.",
+    "Pick up the metal head microphone, move it staying 0.10m from the gold award cup with two handles, then complete the handoff.",
+    "Get the metal head microphone with the left arm, shift the metal head microphone to the right arm, maintaining 0.10m from the gold trophy on square black base.",
+    "Let the left arm grasp the microphone with rounded mesh head, move it 0.10m from the decorative trophy with curved handles, then the right arm receives.",
+    "Have the left arm grasp the mesh-patterned microphone head, avoid the medium-sized golden trophy by 0.10m, and transfer the mesh-patterned microphone head to the right arm.",
+    "Move the microphone with cylindrical handle from the left arm to the right arm while keeping clear of the golden award trophy with black base.",
+    "Use the left arm to lift the black and white microphone, then give the black and white microphone to the right arm, avoiding the medium-sized golden trophy by 0.10m.",
+    "Using the left arm, take the microphone with black tip and white body and hand to the right arm, keeping 0.10m from the gold award cup with two handles.",
+    "Secure the handheld microphone, route it at least 0.10m from the medium-sized golden trophy, then hand it over.",
+    "Take the mesh-patterned microphone head with the left arm, route it away from the medium trophy with gold and black colors, then hand it to the right arm.",
+    "Have the left arm take the microphone with rounded mesh head, then the right arm takes the microphone with rounded mesh head, keep 0.10m from the gold award cup with two handles.",
+    "With the left arm, take the metal head microphone, keep distance from the decorative trophy with curved handles, and give the metal head microphone to the right arm.",
+    "Take the mesh-patterned microphone head with the left arm, hand over to the right arm, keep the mesh-patterned microphone head 0.10m away from the medium trophy with gold and black colors.",
+    "Using the left arm, grab the microphone with cylindrical handle, keep 0.10m from the medium trophy with gold and black colors, then give the microphone with cylindrical handle to the right arm.",
+    "Take the microphone with black tip and white body using the left arm, keep away from the trophy with dangling ribbons, and pass to the right arm.",
+    "Lift the microphone with cylindrical handle, keep it 0.10m away from the medium trophy with gold and black colors, then pass it across.",
+    "Lift the metal head microphone with the left arm, give the metal head microphone to the right arm, keep clear of the trophy with dangling ribbons 0.10m.",
+    "Grab the handheld microphone, carry it around the gold trophy on square black base with 0.10m clearance, then hand over.",
+    "With the left arm, grasp the microphone with textured metal head, then hand the microphone with textured metal head to the right arm, avoiding the shiny trophy with top knob.",
+    "Pick up the microphone with rounded mesh head with the left arm, transfer to the right arm, stay away from the golden award trophy with black base.",
+    "Pick up the black and white microphone using the left arm, transfer to the right arm, keep 0.10m from the black bottom trophy with smooth finish.",
+    "Pick up the compact size microphone, move it staying 0.10m from the trophy cup with curved sides, then complete the handoff.",
+    "Get the microphone with cylindrical handle with the left arm, shift the microphone with cylindrical handle to the right arm, maintaining 0.10m from the trophy cup with curved sides.",
+    "Let the left arm grasp the metal head microphone, move it 0.10m from the decorative trophy with curved handles, then the right arm receives.",
+    "Have the left arm grasp the microphone with rounded mesh head, avoid the trophy cup with curved sides by 0.10m, and transfer the microphone with rounded mesh head to the right arm.",
+    "Move the microphone with rounded mesh head from the left arm to the right arm while keeping clear of the gold trophy on square black base.",
+    "Use the left arm to lift the microphone for voice recording, then give the microphone for voice recording to the right arm, avoiding the medium-sized golden trophy by 0.10m.",
+    "Using the left arm, take the microphone with black tip and white body and hand to the right arm, keeping 0.10m from the decorative trophy with curved handles.",
+    "Secure the metal head microphone, route it at least 0.10m from the cup-shaped trophy with handles, then hand it over.",
+    "Take the microphone with rounded mesh head with the left arm, route it away from the gold award cup with two handles, then hand it to the right arm.",
+    "Have the left arm take the white microphone handle black accents, then the right arm takes the white microphone handle black accents, keep 0.10m from the medium-sized golden trophy.",
+    "With the left arm, take the microphone with black tip and white body, keep distance from the black bottom trophy with smooth finish, and give the microphone with black tip and white body to the right arm.",
+    "Take the compact size microphone with the left arm, hand over to the right arm, keep the compact size microphone 0.10m away from the trophy with dangling ribbons.",
+    "Using the left arm, grab the black and white microphone, keep 0.10m from the gold trophy on square black base, then give the black and white microphone to the right arm.",
+    "Take the black and white microphone using the left arm, keep away from the trophy with dangling ribbons, and pass to the right arm.",
+    "Lift the microphone with textured metal head, keep it 0.10m away from the medium-sized golden trophy, then pass it across."
+  ],
+  "unseen": [
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the trophy with red and blue ribbons.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the shiny trophy cup.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the shiny trophy cup, hand to the right arm.",
+    "Pick up the black and white plastic microphone, avoid the trophy with red and blue ribbons by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the smooth golden trophy.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the trophy with red and blue ribbons.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the shiny trophy cup.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the trophy with red and blue ribbons, hand to the right arm.",
+    "Pick up the lightweight handheld microphone, avoid the trophy with red and blue ribbons by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the smooth golden trophy.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the smooth golden trophy by 0.10m.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the smooth golden trophy.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the trophy with red and blue ribbons.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the trophy with red and blue ribbons, hand to the right arm.",
+    "Pick up the black and white plastic microphone, avoid the smooth golden trophy by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the smooth golden trophy.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the shiny trophy cup.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the trophy with red and blue ribbons.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the smooth golden trophy, hand to the right arm.",
+    "Pick up the black and white plastic microphone, avoid the trophy with red and blue ribbons by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the smooth golden trophy.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the trophy with red and blue ribbons.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the trophy with red and blue ribbons.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the trophy with red and blue ribbons, hand to the right arm.",
+    "Pick up the microphone used for audio input, avoid the smooth golden trophy by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the smooth golden trophy.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the smooth golden trophy by 0.10m.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the smooth golden trophy.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the smooth golden trophy.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the shiny trophy cup, hand to the right arm.",
+    "Pick up the lightweight handheld microphone, avoid the smooth golden trophy by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the shiny trophy cup.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the shiny trophy cup by 0.10m.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the trophy with red and blue ribbons.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the trophy with red and blue ribbons.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the smooth golden trophy, hand to the right arm.",
+    "Pick up the lightweight handheld microphone, avoid the trophy with red and blue ribbons by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the shiny trophy cup.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the smooth golden trophy by 0.10m.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the trophy with red and blue ribbons.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the shiny trophy cup.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the smooth golden trophy, hand to the right arm.",
+    "Pick up the microphone used for audio input, avoid the shiny trophy cup by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the shiny trophy cup.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the shiny trophy cup by 0.10m.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the smooth golden trophy.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the shiny trophy cup.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the smooth golden trophy, hand to the right arm.",
+    "Pick up the lightweight handheld microphone, avoid the trophy with red and blue ribbons by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the shiny trophy cup.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the smooth golden trophy by 0.10m.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the shiny trophy cup.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the smooth golden trophy.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the shiny trophy cup, hand to the right arm.",
+    "Pick up the black and white plastic microphone, avoid the trophy with red and blue ribbons by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the smooth golden trophy.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the smooth golden trophy.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the smooth golden trophy.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the shiny trophy cup, hand to the right arm.",
+    "Pick up the microphone used for audio input, avoid the smooth golden trophy by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the trophy with red and blue ribbons.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the trophy with red and blue ribbons.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the smooth golden trophy.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the trophy with red and blue ribbons, hand to the right arm.",
+    "Pick up the lightweight handheld microphone, avoid the trophy with red and blue ribbons by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the smooth golden trophy.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the trophy with red and blue ribbons.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the smooth golden trophy.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the trophy with red and blue ribbons, hand to the right arm.",
+    "Pick up the black and white plastic microphone, avoid the trophy with red and blue ribbons by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the shiny trophy cup.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the shiny trophy cup by 0.10m.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the trophy with red and blue ribbons.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the smooth golden trophy.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the shiny trophy cup, hand to the right arm.",
+    "Pick up the black and white plastic microphone, avoid the trophy with red and blue ribbons by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the trophy with red and blue ribbons.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the smooth golden trophy.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the trophy with red and blue ribbons.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the trophy with red and blue ribbons, hand to the right arm.",
+    "Pick up the microphone used for audio input, avoid the smooth golden trophy by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the smooth golden trophy.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the trophy with red and blue ribbons.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the trophy with red and blue ribbons.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the smooth golden trophy, hand to the right arm.",
+    "Pick up the microphone used for audio input, avoid the shiny trophy cup by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the shiny trophy cup.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the smooth golden trophy by 0.10m.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the smooth golden trophy.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the smooth golden trophy.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the shiny trophy cup, hand to the right arm.",
+    "Pick up the microphone used for audio input, avoid the shiny trophy cup by 0.10m, pass the microphone used for audio input from the left arm to the right arm."
+  ]
+}
\ No newline at end of file
diff --git a/handover_mic_wp1/handover_mic_wp1/instructions/episode35.json b/handover_mic_wp1/handover_mic_wp1/instructions/episode35.json
new file mode 100644
index 0000000000000000000000000000000000000000..ac75f5980c762c9299e65a4561f9d7f5763d3db6
--- /dev/null
+++ b/handover_mic_wp1/handover_mic_wp1/instructions/episode35.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With the left arm, grasp the microphone for voice recording, then hand the microphone for voice recording to the right arm, avoiding the ornate gold cup.",
+    "Take the compact size microphone with the left arm, hand over to the right arm, keep the compact size microphone 0.10m away from the centerpiece gold trophy on sturdy base.",
+    "Move the microphone with black tip and white body from the left arm to the right arm while keeping clear of the trophy with two side handles.",
+    "Use the left arm to lift the handheld microphone, then give the handheld microphone to the right arm, avoiding the medium-sized prize trophy by 0.10m.",
+    "Get the microphone with textured metal head with the left arm, shift the microphone with textured metal head to the right arm, maintaining 0.10m from the gold trophy.",
+    "Lift the metal head microphone with the left arm, give the metal head microphone to the right arm, keep clear of the award trophy with black platform 0.10m.",
+    "Pick up the microphone with textured metal head with the left arm, transfer to the right arm, stay away from the gold and black prize cup.",
+    "Take the microphone with cylindrical handle with the left arm, route it away from the gold trophy, then hand it to the right arm.",
+    "Take the microphone for voice recording using the left arm, keep away from the medium-sized prize trophy, and pass to the right arm.",
+    "Pick up the black and white microphone, move it staying 0.10m from the two-handled golden trophy, then complete the handoff.",
+    "Pick up the microphone with cylindrical handle using the left arm, transfer to the right arm, keep 0.10m from the medium-sized prize trophy.",
+    "Have the left arm grasp the microphone with cylindrical handle, avoid the trophy with two side handles by 0.10m, and transfer the microphone with cylindrical handle to the right arm.",
+    "Grab the white microphone handle black accents, carry it around the trophy with two side handles with 0.10m clearance, then hand over.",
+    "With the left arm, take the black and white microphone, keep distance from the gold trophy, and give the black and white microphone to the right arm.",
+    "Using the left arm, take the microphone with textured metal head and hand to the right arm, keeping 0.10m from the gold trophy.",
+    "Have the left arm take the microphone with cylindrical handle, then the right arm takes the microphone with cylindrical handle, keep 0.10m from the gold trophy.",
+    "Secure the microphone with rounded mesh head, route it at least 0.10m from the gold trophy, then hand it over.",
+    "Let the left arm grasp the handheld microphone, move it 0.10m from the trophy with two side handles, then the right arm receives.",
+    "Lift the compact size microphone, keep it 0.10m away from the trophy with smooth polished finish, then pass it across.",
+    "Using the left arm, grab the black and white microphone, keep 0.10m from the two-handled golden trophy, then give the black and white microphone to the right arm.",
+    "With the left arm, grasp the metal head microphone, then hand the metal head microphone to the right arm, avoiding the ornate gold cup.",
+    "Take the compact size microphone with the left arm, hand over to the right arm, keep the compact size microphone 0.10m away from the gold trophy.",
+    "Move the smooth plastic microphone handle from the left arm to the right arm while keeping clear of the trophy with two side handles.",
+    "Use the left arm to lift the microphone with textured metal head, then give the microphone with textured metal head to the right arm, avoiding the medium-sized prize trophy by 0.10m.",
+    "Get the white microphone handle black accents with the left arm, shift the white microphone handle black accents to the right arm, maintaining 0.10m from the ornate gold cup.",
+    "Lift the smooth plastic microphone handle with the left arm, give the smooth plastic microphone handle to the right arm, keep clear of the gold and black prize cup 0.10m.",
+    "Pick up the microphone with rounded mesh head with the left arm, transfer to the right arm, stay away from the centerpiece gold trophy on sturdy base.",
+    "Take the smooth plastic microphone handle with the left arm, route it away from the trophy with two side handles, then hand it to the right arm.",
+    "Take the handheld microphone using the left arm, keep away from the award trophy with black platform, and pass to the right arm.",
+    "Pick up the smooth plastic microphone handle, move it staying 0.10m from the gold cup on black base, then complete the handoff.",
+    "Pick up the mesh-patterned microphone head using the left arm, transfer to the right arm, keep 0.10m from the two-handled golden trophy.",
+    "Have the left arm grasp the compact size microphone, avoid the gold cup on black base by 0.10m, and transfer the compact size microphone to the right arm.",
+    "Grab the microphone with black tip and white body, carry it around the medium-sized prize trophy with 0.10m clearance, then hand over.",
+    "With the left arm, take the metal head microphone, keep distance from the shiny gold trophy with black stand, and give the metal head microphone to the right arm.",
+    "Using the left arm, take the metal head microphone and hand to the right arm, keeping 0.10m from the medium-sized prize trophy.",
+    "Have the left arm take the microphone with rounded mesh head, then the right arm takes the microphone with rounded mesh head, keep 0.10m from the two-handled golden trophy.",
+    "Secure the black and white microphone, route it at least 0.10m from the medium-sized prize trophy, then hand it over.",
+    "Let the left arm grasp the compact size microphone, move it 0.10m from the trophy with detailed top and base, then the right arm receives.",
+    "Lift the microphone for voice recording, keep it 0.10m away from the trophy with smooth polished finish, then pass it across.",
+    "Using the left arm, grab the microphone with rounded mesh head, keep 0.10m from the ornate gold cup, then give the microphone with rounded mesh head to the right arm.",
+    "With the left arm, grasp the white microphone handle black accents, then hand the white microphone handle black accents to the right arm, avoiding the award trophy with black platform.",
+    "Take the white microphone handle black accents with the left arm, hand over to the right arm, keep the white microphone handle black accents 0.10m away from the ornate gold cup.",
+    "Move the microphone for voice recording from the left arm to the right arm while keeping clear of the trophy with detailed top and base.",
+    "Use the left arm to lift the microphone for voice recording, then give the microphone for voice recording to the right arm, avoiding the medium-sized prize trophy by 0.10m.",
+    "Get the black and white microphone with the left arm, shift the black and white microphone to the right arm, maintaining 0.10m from the centerpiece gold trophy on sturdy base.",
+    "Lift the smooth plastic microphone handle with the left arm, give the smooth plastic microphone handle to the right arm, keep clear of the gold cup on black base 0.10m.",
+    "Pick up the microphone with textured metal head with the left arm, transfer to the right arm, stay away from the award trophy with black platform.",
+    "Take the microphone with black tip and white body with the left arm, route it away from the trophy with smooth polished finish, then hand it to the right arm.",
+    "Take the microphone with textured metal head using the left arm, keep away from the gold cup on black base, and pass to the right arm.",
+    "Pick up the microphone for voice recording, move it staying 0.10m from the centerpiece gold trophy on sturdy base, then complete the handoff.",
+    "Pick up the mesh-patterned microphone head using the left arm, transfer to the right arm, keep 0.10m from the trophy with two side handles.",
+    "Have the left arm grasp the metal head microphone, avoid the medium-sized prize trophy by 0.10m, and transfer the metal head microphone to the right arm.",
+    "Grab the metal head microphone, carry it around the award trophy with black platform with 0.10m clearance, then hand over.",
+    "With the left arm, take the microphone with cylindrical handle, keep distance from the trophy with detailed top and base, and give the microphone with cylindrical handle to the right arm.",
+    "Using the left arm, take the microphone for voice recording and hand to the right arm, keeping 0.10m from the trophy with detailed top and base.",
+    "Have the left arm take the handheld microphone, then the right arm takes the handheld microphone, keep 0.10m from the shiny gold trophy with black stand.",
+    "Secure the compact size microphone, route it at least 0.10m from the shiny gold trophy with black stand, then hand it over.",
+    "Let the left arm grasp the microphone with textured metal head, move it 0.10m from the gold and black prize cup, then the right arm receives.",
+    "Lift the smooth plastic microphone handle, keep it 0.10m away from the gold cup on black base, then pass it across.",
+    "Using the left arm, grab the metal head microphone, keep 0.10m from the gold cup on black base, then give the metal head microphone to the right arm.",
+    "With the left arm, grasp the handheld microphone, then hand the handheld microphone to the right arm, avoiding the gold cup on black base.",
+    "Take the microphone with rounded mesh head with the left arm, hand over to the right arm, keep the microphone with rounded mesh head 0.10m away from the trophy with smooth polished finish.",
+    "Move the compact size microphone from the left arm to the right arm while keeping clear of the ornate gold cup.",
+    "Use the left arm to lift the metal head microphone, then give the metal head microphone to the right arm, avoiding the ornate gold cup by 0.10m.",
+    "Get the metal head microphone with the left arm, shift the metal head microphone to the right arm, maintaining 0.10m from the gold cup on black base.",
+    "Lift the smooth plastic microphone handle with the left arm, give the smooth plastic microphone handle to the right arm, keep clear of the trophy with smooth polished finish 0.10m.",
+    "Pick up the mesh-patterned microphone head with the left arm, transfer to the right arm, stay away from the award trophy with black platform.",
+    "Take the black and white microphone with the left arm, route it away from the gold trophy, then hand it to the right arm.",
+    "Take the black and white microphone using the left arm, keep away from the award trophy with black platform, and pass to the right arm.",
+    "Pick up the mesh-patterned microphone head, move it staying 0.10m from the award trophy with black platform, then complete the handoff.",
+    "Pick up the handheld microphone using the left arm, transfer to the right arm, keep 0.10m from the gold and black prize cup.",
+    "Have the left arm grasp the compact size microphone, avoid the shiny gold trophy with black stand by 0.10m, and transfer the compact size microphone to the right arm.",
+    "Grab the white microphone handle black accents, carry it around the trophy with two side handles with 0.10m clearance, then hand over.",
+    "With the left arm, take the handheld microphone, keep distance from the trophy with detailed top and base, and give the handheld microphone to the right arm.",
+    "Using the left arm, take the microphone with black tip and white body and hand to the right arm, keeping 0.10m from the medium-sized prize trophy.",
+    "Have the left arm take the microphone with rounded mesh head, then the right arm takes the microphone with rounded mesh head, keep 0.10m from the ornate gold cup.",
+    "Secure the microphone for voice recording, route it at least 0.10m from the award trophy with black platform, then hand it over.",
+    "Let the left arm grasp the mesh-patterned microphone head, move it 0.10m from the gold trophy, then the right arm receives.",
+    "Lift the smooth plastic microphone handle, keep it 0.10m away from the gold trophy, then pass it across.",
+    "Using the left arm, grab the microphone with textured metal head, keep 0.10m from the two-handled golden trophy, then give the microphone with textured metal head to the right arm.",
+    "With the left arm, grasp the microphone with textured metal head, then hand the microphone with textured metal head to the right arm, avoiding the shiny gold trophy with black stand.",
+    "Take the smooth plastic microphone handle with the left arm, hand over to the right arm, keep the smooth plastic microphone handle 0.10m away from the gold cup on black base.",
+    "Move the microphone with rounded mesh head from the left arm to the right arm while keeping clear of the shiny gold trophy with black stand.",
+    "Use the left arm to lift the microphone with cylindrical handle, then give the microphone with cylindrical handle to the right arm, avoiding the shiny gold trophy with black stand by 0.10m.",
+    "Get the microphone with black tip and white body with the left arm, shift the microphone with black tip and white body to the right arm, maintaining 0.10m from the centerpiece gold trophy on sturdy base.",
+    "Lift the metal head microphone with the left arm, give the metal head microphone to the right arm, keep clear of the medium-sized prize trophy 0.10m.",
+    "Pick up the compact size microphone with the left arm, transfer to the right arm, stay away from the gold and black prize cup.",
+    "Take the handheld microphone with the left arm, route it away from the shiny gold trophy with black stand, then hand it to the right arm.",
+    "Take the white microphone handle black accents using the left arm, keep away from the centerpiece gold trophy on sturdy base, and pass to the right arm.",
+    "Pick up the microphone with black tip and white body, move it staying 0.10m from the trophy with smooth polished finish, then complete the handoff.",
+    "Pick up the microphone with cylindrical handle using the left arm, transfer to the right arm, keep 0.10m from the gold cup on black base.",
+    "Have the left arm grasp the handheld microphone, avoid the trophy with smooth polished finish by 0.10m, and transfer the handheld microphone to the right arm.",
+    "Grab the microphone with cylindrical handle, carry it around the trophy with detailed top and base with 0.10m clearance, then hand over.",
+    "With the left arm, take the white microphone handle black accents, keep distance from the centerpiece gold trophy on sturdy base, and give the white microphone handle black accents to the right arm.",
+    "Using the left arm, take the microphone for voice recording and hand to the right arm, keeping 0.10m from the shiny gold trophy with black stand.",
+    "Have the left arm take the microphone with rounded mesh head, then the right arm takes the microphone with rounded mesh head, keep 0.10m from the shiny gold trophy with black stand.",
+    "Secure the metal head microphone, route it at least 0.10m from the gold cup on black base, then hand it over.",
+    "Let the left arm grasp the mesh-patterned microphone head, move it 0.10m from the trophy with smooth polished finish, then the right arm receives.",
+    "Lift the microphone with rounded mesh head, keep it 0.10m away from the gold cup on black base, then pass it across.",
+    "Using the left arm, grab the microphone with cylindrical handle, keep 0.10m from the gold and black prize cup, then give the microphone with cylindrical handle to the right arm."
+  ],
+  "unseen": [
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the smooth gold cup.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the trophy cup with curved handles, hand to the right arm.",
+    "Pick up the microphone used for audio input, avoid the trophy cup with curved handles by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the trophy cup with curved handles.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the trophy cup with curved handles.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the golden award cup.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the golden award cup, hand to the right arm.",
+    "Pick up the lightweight handheld microphone, avoid the golden award cup by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the trophy cup with curved handles.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the trophy cup with curved handles.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the smooth gold cup.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the trophy cup with curved handles, hand to the right arm.",
+    "Pick up the microphone used for audio input, avoid the trophy cup with curved handles by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the smooth gold cup by 0.10m.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the golden award cup.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the smooth gold cup.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the golden award cup.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the trophy cup with curved handles, hand to the right arm.",
+    "Pick up the lightweight handheld microphone, avoid the golden award cup by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the smooth gold cup by 0.10m.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the golden award cup.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the smooth gold cup.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the smooth gold cup.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the golden award cup, hand to the right arm.",
+    "Pick up the microphone used for audio input, avoid the trophy cup with curved handles by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the smooth gold cup by 0.10m.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the trophy cup with curved handles.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the golden award cup.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the trophy cup with curved handles.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the smooth gold cup, hand to the right arm.",
+    "Pick up the microphone used for audio input, avoid the golden award cup by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the smooth gold cup by 0.10m.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the smooth gold cup.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the trophy cup with curved handles.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the trophy cup with curved handles.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the trophy cup with curved handles, hand to the right arm.",
+    "Pick up the black and white plastic microphone, avoid the smooth gold cup by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the smooth gold cup by 0.10m.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the golden award cup.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the trophy cup with curved handles.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the golden award cup.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the trophy cup with curved handles, hand to the right arm.",
+    "Pick up the black and white plastic microphone, avoid the smooth gold cup by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the golden award cup.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the smooth gold cup.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the trophy cup with curved handles.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the smooth gold cup, hand to the right arm.",
+    "Pick up the black and white plastic microphone, avoid the trophy cup with curved handles by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the smooth gold cup by 0.10m.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the trophy cup with curved handles.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the trophy cup with curved handles.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the smooth gold cup.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the trophy cup with curved handles, hand to the right arm.",
+    "Pick up the black and white plastic microphone, avoid the golden award cup by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the smooth gold cup by 0.10m.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the trophy cup with curved handles.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the smooth gold cup.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the trophy cup with curved handles.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the golden award cup, hand to the right arm.",
+    "Pick up the microphone used for audio input, avoid the golden award cup by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the smooth gold cup by 0.10m.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the golden award cup.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the golden award cup.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the smooth gold cup.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the smooth gold cup, hand to the right arm.",
+    "Pick up the microphone used for audio input, avoid the golden award cup by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the smooth gold cup by 0.10m.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the trophy cup with curved handles.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the smooth gold cup.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the smooth gold cup.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the trophy cup with curved handles, hand to the right arm.",
+    "Pick up the microphone used for audio input, avoid the trophy cup with curved handles by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the smooth gold cup by 0.10m.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the trophy cup with curved handles.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the trophy cup with curved handles.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the trophy cup with curved handles.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the golden award cup, hand to the right arm.",
+    "Pick up the lightweight handheld microphone, avoid the golden award cup by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the smooth gold cup by 0.10m.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the trophy cup with curved handles.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the golden award cup.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the golden award cup.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the golden award cup, hand to the right arm.",
+    "Pick up the microphone used for audio input, avoid the smooth gold cup by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the trophy cup with curved handles.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the golden award cup.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the smooth gold cup.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the golden award cup, hand to the right arm.",
+    "Pick up the black and white plastic microphone, avoid the smooth gold cup by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the trophy cup with curved handles.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the smooth gold cup.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the trophy cup with curved handles.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the trophy cup with curved handles, hand to the right arm.",
+    "Pick up the microphone used for audio input, avoid the smooth gold cup by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the smooth gold cup by 0.10m."
+  ]
+}
\ No newline at end of file
diff --git a/handover_mic_wp1/handover_mic_wp1/instructions/episode36.json b/handover_mic_wp1/handover_mic_wp1/instructions/episode36.json
new file mode 100644
index 0000000000000000000000000000000000000000..7feae9fdd2dbadc6f2d98dd06768b6b03a27512b
--- /dev/null
+++ b/handover_mic_wp1/handover_mic_wp1/instructions/episode36.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the plastic teal microphone with slider, keep it 0.10m away from the shiny yellow trophy, then pass it across.",
+    "Move the microphone with slider switch from the left arm to the right arm while keeping clear of the shiny yellow trophy.",
+    "Pick up the white bottom microphone with textured tip, move it staying 0.10m from the tall yellow trophy with small neck, then complete the handoff.",
+    "Have the left arm take the microphone with slider switch, then the right arm takes the microphone with slider switch, keep 0.10m from the golden yellow cup-shaped prize trophy.",
+    "Secure the plastic teal microphone with slider, route it at least 0.10m from the shiny trophy for winning competitions, then hand it over.",
+    "Use the left arm to lift the microphone with white rounded head, then give the microphone with white rounded head to the right arm, avoiding the tall award trophy with glossy surface by 0.10m.",
+    "Let the left arm grasp the microphone with white rounded head, move it 0.10m from the trophy with sleek golden finish, then the right arm receives.",
+    "Have the left arm grasp the teal microphone, avoid the smooth metallic cup with flat bottom by 0.10m, and transfer the teal microphone to the right arm.",
+    "With the left arm, take the microphone with slider switch, keep distance from the achievement cup with curved side handles, and give the microphone with slider switch to the right arm.",
+    "Using the left arm, take the textured white microphone head and hand to the right arm, keeping 0.10m from the trophy with sleek golden finish.",
+    "Pick up the teal microphone with the left arm, transfer to the right arm, stay away from the achievement cup with curved side handles.",
+    "Take the textured white microphone head with the left arm, route it away from the golden cup with curved handles, then hand it to the right arm.",
+    "Pick up the rounded white tip microphone using the left arm, transfer to the right arm, keep 0.10m from the achievement cup with curved side handles.",
+    "Get the white and teal sound microphone with the left arm, shift the white and teal sound microphone to the right arm, maintaining 0.10m from the award trophy with two handles.",
+    "Take the rounded white tip microphone with the left arm, hand over to the right arm, keep the rounded white tip microphone 0.10m away from the golden cup with curved handles.",
+    "Take the textured white microphone head using the left arm, keep away from the trophy with sleek golden finish, and pass to the right arm.",
+    "Using the left arm, grab the white and teal sound microphone, keep 0.10m from the shiny yellow trophy, then give the white and teal sound microphone to the right arm.",
+    "Lift the compact teal and white microphone with the left arm, give the compact teal and white microphone to the right arm, keep clear of the tall award trophy with glossy surface 0.10m.",
+    "Grab the microphone with slider switch, carry it around the tall award trophy with glossy surface with 0.10m clearance, then hand over.",
+    "With the left arm, grasp the microphone with slider switch, then hand the microphone with slider switch to the right arm, avoiding the tall yellow trophy with small neck.",
+    "Lift the microphone with slider switch, keep it 0.10m away from the metallic yellow cup-shaped trophy, then pass it across.",
+    "Move the rounded white tip microphone from the left arm to the right arm while keeping clear of the golden yellow cup-shaped prize trophy.",
+    "Pick up the compact teal and white microphone, move it staying 0.10m from the golden cup with curved handles, then complete the handoff.",
+    "Have the left arm take the textured white microphone head, then the right arm takes the textured white microphone head, keep 0.10m from the golden cup with curved handles.",
+    "Secure the rounded white tip microphone, route it at least 0.10m from the tall yellow trophy with small neck, then hand it over.",
+    "Use the left arm to lift the microphone with slider switch, then give the microphone with slider switch to the right arm, avoiding the trophy with sleek golden finish by 0.10m.",
+    "Let the left arm grasp the long microphone with smooth teal grip, move it 0.10m from the tall yellow trophy with small neck, then the right arm receives.",
+    "Have the left arm grasp the microphone with white rounded head, avoid the smooth metallic cup with flat bottom by 0.10m, and transfer the microphone with white rounded head to the right arm.",
+    "With the left arm, take the white bottom microphone with textured tip, keep distance from the achievement cup with curved side handles, and give the white bottom microphone with textured tip to the right arm.",
+    "Using the left arm, take the plastic teal microphone with slider and hand to the right arm, keeping 0.10m from the golden trophy.",
+    "Pick up the plastic teal microphone with slider with the left arm, transfer to the right arm, stay away from the tall yellow trophy with small neck.",
+    "Take the white and teal sound microphone with the left arm, route it away from the tall award trophy with glossy surface, then hand it to the right arm.",
+    "Pick up the long microphone with smooth teal grip using the left arm, transfer to the right arm, keep 0.10m from the tall yellow trophy with small neck.",
+    "Get the sound microphone with teal body with the left arm, shift the sound microphone with teal body to the right arm, maintaining 0.10m from the award trophy with two handles.",
+    "Take the microphone with slider switch with the left arm, hand over to the right arm, keep the microphone with slider switch 0.10m away from the trophy with sleek golden finish.",
+    "Take the white and teal sound microphone using the left arm, keep away from the shiny yellow trophy, and pass to the right arm.",
+    "Using the left arm, grab the compact teal and white microphone, keep 0.10m from the golden yellow cup-shaped prize trophy, then give the compact teal and white microphone to the right arm.",
+    "Lift the microphone with slider switch with the left arm, give the microphone with slider switch to the right arm, keep clear of the golden yellow cup-shaped prize trophy 0.10m.",
+    "Grab the handheld teal microphone, carry it around the trophy with sleek golden finish with 0.10m clearance, then hand over.",
+    "With the left arm, grasp the microphone with slider switch, then hand the microphone with slider switch to the right arm, avoiding the golden yellow cup-shaped prize trophy.",
+    "Lift the plastic teal microphone with slider, keep it 0.10m away from the golden yellow cup-shaped prize trophy, then pass it across.",
+    "Move the handheld teal microphone from the left arm to the right arm while keeping clear of the golden yellow cup-shaped prize trophy.",
+    "Pick up the teal microphone, move it staying 0.10m from the golden yellow cup-shaped prize trophy, then complete the handoff.",
+    "Have the left arm take the teal microphone, then the right arm takes the teal microphone, keep 0.10m from the tall award trophy with glossy surface.",
+    "Secure the white bottom microphone with textured tip, route it at least 0.10m from the achievement cup with curved side handles, then hand it over.",
+    "Use the left arm to lift the white and teal sound microphone, then give the white and teal sound microphone to the right arm, avoiding the golden cup with curved handles by 0.10m.",
+    "Let the left arm grasp the microphone with slider switch, move it 0.10m from the golden trophy, then the right arm receives.",
+    "Have the left arm grasp the rounded white tip microphone, avoid the golden cup with curved handles by 0.10m, and transfer the rounded white tip microphone to the right arm.",
+    "With the left arm, take the teal microphone, keep distance from the trophy with sleek golden finish, and give the teal microphone to the right arm.",
+    "Using the left arm, take the handheld teal microphone and hand to the right arm, keeping 0.10m from the achievement cup with curved side handles.",
+    "Pick up the sound microphone with teal body with the left arm, transfer to the right arm, stay away from the tall award trophy with glossy surface.",
+    "Take the microphone with slider switch with the left arm, route it away from the award trophy with two handles, then hand it to the right arm.",
+    "Pick up the microphone with white rounded head using the left arm, transfer to the right arm, keep 0.10m from the golden trophy.",
+    "Get the white and teal sound microphone with the left arm, shift the white and teal sound microphone to the right arm, maintaining 0.10m from the metallic yellow cup-shaped trophy.",
+    "Take the white and teal sound microphone with the left arm, hand over to the right arm, keep the white and teal sound microphone 0.10m away from the shiny trophy for winning competitions.",
+    "Take the compact teal and white microphone using the left arm, keep away from the tall yellow trophy with small neck, and pass to the right arm.",
+    "Using the left arm, grab the textured white microphone head, keep 0.10m from the metallic yellow cup-shaped trophy, then give the textured white microphone head to the right arm.",
+    "Lift the rounded white tip microphone with the left arm, give the rounded white tip microphone to the right arm, keep clear of the shiny yellow trophy 0.10m.",
+    "Grab the handheld teal microphone, carry it around the golden trophy with 0.10m clearance, then hand over.",
+    "With the left arm, grasp the microphone with slider switch, then hand the microphone with slider switch to the right arm, avoiding the golden yellow cup-shaped prize trophy.",
+    "Lift the handheld teal microphone, keep it 0.10m away from the award trophy with two handles, then pass it across.",
+    "Move the long microphone with smooth teal grip from the left arm to the right arm while keeping clear of the golden yellow cup-shaped prize trophy.",
+    "Pick up the long microphone with smooth teal grip, move it staying 0.10m from the golden cup with curved handles, then complete the handoff.",
+    "Have the left arm take the sound microphone with teal body, then the right arm takes the sound microphone with teal body, keep 0.10m from the achievement cup with curved side handles.",
+    "Secure the sound microphone with teal body, route it at least 0.10m from the golden yellow cup-shaped prize trophy, then hand it over.",
+    "Use the left arm to lift the rounded white tip microphone, then give the rounded white tip microphone to the right arm, avoiding the tall yellow trophy with small neck by 0.10m.",
+    "Let the left arm grasp the white and teal sound microphone, move it 0.10m from the award trophy with two handles, then the right arm receives.",
+    "Have the left arm grasp the teal microphone, avoid the metallic yellow cup-shaped trophy by 0.10m, and transfer the teal microphone to the right arm.",
+    "With the left arm, take the sound microphone with teal body, keep distance from the shiny trophy for winning competitions, and give the sound microphone with teal body to the right arm.",
+    "Using the left arm, take the rounded white tip microphone and hand to the right arm, keeping 0.10m from the award trophy with two handles.",
+    "Pick up the sound microphone with teal body with the left arm, transfer to the right arm, stay away from the shiny trophy for winning competitions.",
+    "Take the plastic teal microphone with slider with the left arm, route it away from the golden cup with curved handles, then hand it to the right arm.",
+    "Pick up the rounded white tip microphone using the left arm, transfer to the right arm, keep 0.10m from the shiny yellow trophy.",
+    "Get the compact teal and white microphone with the left arm, shift the compact teal and white microphone to the right arm, maintaining 0.10m from the golden cup with curved handles.",
+    "Take the long microphone with smooth teal grip with the left arm, hand over to the right arm, keep the long microphone with smooth teal grip 0.10m away from the tall award trophy with glossy surface.",
+    "Take the microphone with white rounded head using the left arm, keep away from the achievement cup with curved side handles, and pass to the right arm.",
+    "Using the left arm, grab the microphone with slider switch, keep 0.10m from the award trophy with two handles, then give the microphone with slider switch to the right arm.",
+    "Lift the microphone with white rounded head with the left arm, give the microphone with white rounded head to the right arm, keep clear of the award trophy with two handles 0.10m.",
+    "Grab the microphone with white rounded head, carry it around the golden yellow cup-shaped prize trophy with 0.10m clearance, then hand over.",
+    "With the left arm, grasp the handheld teal microphone, then hand the handheld teal microphone to the right arm, avoiding the achievement cup with curved side handles.",
+    "Lift the microphone with slider switch, keep it 0.10m away from the award trophy with two handles, then pass it across.",
+    "Move the handheld teal microphone from the left arm to the right arm while keeping clear of the tall yellow trophy with small neck.",
+    "Pick up the white and teal sound microphone, move it staying 0.10m from the golden cup with curved handles, then complete the handoff.",
+    "Have the left arm take the compact teal and white microphone, then the right arm takes the compact teal and white microphone, keep 0.10m from the metallic yellow cup-shaped trophy.",
+    "Secure the microphone with white rounded head, route it at least 0.10m from the shiny yellow trophy, then hand it over.",
+    "Use the left arm to lift the handheld teal microphone, then give the handheld teal microphone to the right arm, avoiding the shiny yellow trophy by 0.10m.",
+    "Let the left arm grasp the teal microphone, move it 0.10m from the tall award trophy with glossy surface, then the right arm receives.",
+    "Have the left arm grasp the microphone with white rounded head, avoid the shiny yellow trophy by 0.10m, and transfer the microphone with white rounded head to the right arm.",
+    "With the left arm, take the long microphone with smooth teal grip, keep distance from the golden yellow cup-shaped prize trophy, and give the long microphone with smooth teal grip to the right arm.",
+    "Using the left arm, take the teal microphone and hand to the right arm, keeping 0.10m from the golden yellow cup-shaped prize trophy.",
+    "Pick up the textured white microphone head with the left arm, transfer to the right arm, stay away from the tall yellow trophy with small neck.",
+    "Take the textured white microphone head with the left arm, route it away from the shiny yellow trophy, then hand it to the right arm.",
+    "Pick up the rounded white tip microphone using the left arm, transfer to the right arm, keep 0.10m from the golden cup with curved handles.",
+    "Get the white bottom microphone with textured tip with the left arm, shift the white bottom microphone with textured tip to the right arm, maintaining 0.10m from the award trophy with two handles.",
+    "Take the microphone with white rounded head with the left arm, hand over to the right arm, keep the microphone with white rounded head 0.10m away from the shiny trophy for winning competitions.",
+    "Take the plastic teal microphone with slider using the left arm, keep away from the shiny trophy for winning competitions, and pass to the right arm.",
+    "Using the left arm, grab the plastic teal microphone with slider, keep 0.10m from the award trophy with two handles, then give the plastic teal microphone with slider to the right arm.",
+    "Lift the plastic teal microphone with slider with the left arm, give the plastic teal microphone with slider to the right arm, keep clear of the tall yellow trophy with small neck 0.10m.",
+    "Grab the sound microphone with teal body, carry it around the trophy with sleek golden finish with 0.10m clearance, then hand over.",
+    "With the left arm, grasp the long microphone with smooth teal grip, then hand the long microphone with smooth teal grip to the right arm, avoiding the smooth metallic cup with flat bottom."
+  ],
+  "unseen": [
+    "Use the left arm to grab the long teal microphone with white grooves, then pass it to the right arm, avoiding the prize trophy with sturdy round base.",
+    "Grab the switchable microphone with teal body with the left arm, hand it to the right arm, avoiding the prize trophy with sturdy round base by 0.10m.",
+    "With the left arm, grab the teal microphone with white bottom, pass to the right arm, keeping the teal microphone with white bottom 0.10m from the prize trophy with sturdy round base.",
+    "Pick up the switchable microphone with teal body, avoid the medium-sized golden prize cup by 0.10m, pass the switchable microphone with teal body from the left arm to the right arm.",
+    "Grab the long teal microphone with white grooves with the left arm, keep 0.10m from the prize trophy with sturdy round base, hand to the right arm.",
+    "Use the left arm to grab the teal microphone with white bottom, pass to the right arm, keep the teal microphone with white bottom 0.10m from the medium-sized golden prize cup.",
+    "Use the left arm to grab the switchable microphone with teal body, then pass it to the right arm, avoiding the medium-sized golden prize cup.",
+    "Grab the switchable microphone with teal body with the left arm, hand it to the right arm, avoiding the prize trophy with sturdy round base by 0.10m.",
+    "With the left arm, grab the switchable microphone with teal body, pass to the right arm, keeping the switchable microphone with teal body 0.10m from the prize trophy with sturdy round base.",
+    "Pick up the switchable microphone with teal body, avoid the medium-sized golden prize cup by 0.10m, pass the switchable microphone with teal body from the left arm to the right arm.",
+    "Grab the teal microphone with white bottom with the left arm, keep 0.10m from the medium-sized golden prize cup, hand to the right arm.",
+    "Use the left arm to grab the teal microphone with white bottom, pass to the right arm, keep the teal microphone with white bottom 0.10m from the smooth trophy with wide base.",
+    "Use the left arm to grab the teal microphone with white bottom, then pass it to the right arm, avoiding the prize trophy with sturdy round base.",
+    "Grab the switchable microphone with teal body with the left arm, hand it to the right arm, avoiding the medium-sized golden prize cup by 0.10m.",
+    "With the left arm, grab the switchable microphone with teal body, pass to the right arm, keeping the switchable microphone with teal body 0.10m from the prize trophy with sturdy round base.",
+    "Pick up the teal microphone with white bottom, avoid the medium-sized golden prize cup by 0.10m, pass the teal microphone with white bottom from the left arm to the right arm.",
+    "Grab the long teal microphone with white grooves with the left arm, keep 0.10m from the medium-sized golden prize cup, hand to the right arm.",
+    "Use the left arm to grab the teal microphone with white bottom, pass to the right arm, keep the teal microphone with white bottom 0.10m from the medium-sized golden prize cup.",
+    "Use the left arm to grab the long teal microphone with white grooves, then pass it to the right arm, avoiding the medium-sized golden prize cup.",
+    "Grab the switchable microphone with teal body with the left arm, hand it to the right arm, avoiding the medium-sized golden prize cup by 0.10m.",
+    "With the left arm, grab the long teal microphone with white grooves, pass to the right arm, keeping the long teal microphone with white grooves 0.10m from the prize trophy with sturdy round base.",
+    "Pick up the teal microphone with white bottom, avoid the smooth trophy with wide base by 0.10m, pass the teal microphone with white bottom from the left arm to the right arm.",
+    "Grab the switchable microphone with teal body with the left arm, keep 0.10m from the smooth trophy with wide base, hand to the right arm.",
+    "Use the left arm to grab the long teal microphone with white grooves, pass to the right arm, keep the long teal microphone with white grooves 0.10m from the smooth trophy with wide base.",
+    "Use the left arm to grab the teal microphone with white bottom, then pass it to the right arm, avoiding the prize trophy with sturdy round base.",
+    "Grab the long teal microphone with white grooves with the left arm, hand it to the right arm, avoiding the prize trophy with sturdy round base by 0.10m.",
+    "With the left arm, grab the teal microphone with white bottom, pass to the right arm, keeping the teal microphone with white bottom 0.10m from the medium-sized golden prize cup.",
+    "Pick up the teal microphone with white bottom, avoid the prize trophy with sturdy round base by 0.10m, pass the teal microphone with white bottom from the left arm to the right arm.",
+    "Grab the switchable microphone with teal body with the left arm, keep 0.10m from the smooth trophy with wide base, hand to the right arm.",
+    "Use the left arm to grab the long teal microphone with white grooves, pass to the right arm, keep the long teal microphone with white grooves 0.10m from the prize trophy with sturdy round base.",
+    "Use the left arm to grab the teal microphone with white bottom, then pass it to the right arm, avoiding the smooth trophy with wide base.",
+    "Grab the teal microphone with white bottom with the left arm, hand it to the right arm, avoiding the smooth trophy with wide base by 0.10m.",
+    "With the left arm, grab the teal microphone with white bottom, pass to the right arm, keeping the teal microphone with white bottom 0.10m from the prize trophy with sturdy round base.",
+    "Pick up the long teal microphone with white grooves, avoid the prize trophy with sturdy round base by 0.10m, pass the long teal microphone with white grooves from the left arm to the right arm.",
+    "Grab the switchable microphone with teal body with the left arm, keep 0.10m from the prize trophy with sturdy round base, hand to the right arm.",
+    "Use the left arm to grab the switchable microphone with teal body, pass to the right arm, keep the switchable microphone with teal body 0.10m from the smooth trophy with wide base.",
+    "Use the left arm to grab the switchable microphone with teal body, then pass it to the right arm, avoiding the medium-sized golden prize cup.",
+    "Grab the long teal microphone with white grooves with the left arm, hand it to the right arm, avoiding the prize trophy with sturdy round base by 0.10m.",
+    "With the left arm, grab the teal microphone with white bottom, pass to the right arm, keeping the teal microphone with white bottom 0.10m from the smooth trophy with wide base.",
+    "Pick up the long teal microphone with white grooves, avoid the medium-sized golden prize cup by 0.10m, pass the long teal microphone with white grooves from the left arm to the right arm.",
+    "Grab the long teal microphone with white grooves with the left arm, keep 0.10m from the prize trophy with sturdy round base, hand to the right arm.",
+    "Use the left arm to grab the teal microphone with white bottom, pass to the right arm, keep the teal microphone with white bottom 0.10m from the prize trophy with sturdy round base.",
+    "Use the left arm to grab the switchable microphone with teal body, then pass it to the right arm, avoiding the prize trophy with sturdy round base.",
+    "Grab the switchable microphone with teal body with the left arm, hand it to the right arm, avoiding the smooth trophy with wide base by 0.10m.",
+    "With the left arm, grab the switchable microphone with teal body, pass to the right arm, keeping the switchable microphone with teal body 0.10m from the prize trophy with sturdy round base.",
+    "Pick up the teal microphone with white bottom, avoid the medium-sized golden prize cup by 0.10m, pass the teal microphone with white bottom from the left arm to the right arm.",
+    "Grab the long teal microphone with white grooves with the left arm, keep 0.10m from the prize trophy with sturdy round base, hand to the right arm.",
+    "Use the left arm to grab the switchable microphone with teal body, pass to the right arm, keep the switchable microphone with teal body 0.10m from the smooth trophy with wide base.",
+    "Use the left arm to grab the switchable microphone with teal body, then pass it to the right arm, avoiding the smooth trophy with wide base.",
+    "Grab the teal microphone with white bottom with the left arm, hand it to the right arm, avoiding the medium-sized golden prize cup by 0.10m.",
+    "With the left arm, grab the switchable microphone with teal body, pass to the right arm, keeping the switchable microphone with teal body 0.10m from the medium-sized golden prize cup.",
+    "Pick up the switchable microphone with teal body, avoid the medium-sized golden prize cup by 0.10m, pass the switchable microphone with teal body from the left arm to the right arm.",
+    "Grab the long teal microphone with white grooves with the left arm, keep 0.10m from the prize trophy with sturdy round base, hand to the right arm.",
+    "Use the left arm to grab the long teal microphone with white grooves, pass to the right arm, keep the long teal microphone with white grooves 0.10m from the smooth trophy with wide base.",
+    "Use the left arm to grab the switchable microphone with teal body, then pass it to the right arm, avoiding the smooth trophy with wide base.",
+    "Grab the long teal microphone with white grooves with the left arm, hand it to the right arm, avoiding the smooth trophy with wide base by 0.10m.",
+    "With the left arm, grab the switchable microphone with teal body, pass to the right arm, keeping the switchable microphone with teal body 0.10m from the medium-sized golden prize cup.",
+    "Pick up the switchable microphone with teal body, avoid the prize trophy with sturdy round base by 0.10m, pass the switchable microphone with teal body from the left arm to the right arm.",
+    "Grab the long teal microphone with white grooves with the left arm, keep 0.10m from the prize trophy with sturdy round base, hand to the right arm.",
+    "Use the left arm to grab the teal microphone with white bottom, pass to the right arm, keep the teal microphone with white bottom 0.10m from the smooth trophy with wide base.",
+    "Use the left arm to grab the switchable microphone with teal body, then pass it to the right arm, avoiding the prize trophy with sturdy round base.",
+    "Grab the switchable microphone with teal body with the left arm, hand it to the right arm, avoiding the smooth trophy with wide base by 0.10m.",
+    "With the left arm, grab the long teal microphone with white grooves, pass to the right arm, keeping the long teal microphone with white grooves 0.10m from the medium-sized golden prize cup.",
+    "Pick up the long teal microphone with white grooves, avoid the smooth trophy with wide base by 0.10m, pass the long teal microphone with white grooves from the left arm to the right arm.",
+    "Grab the teal microphone with white bottom with the left arm, keep 0.10m from the smooth trophy with wide base, hand to the right arm.",
+    "Use the left arm to grab the long teal microphone with white grooves, pass to the right arm, keep the long teal microphone with white grooves 0.10m from the prize trophy with sturdy round base.",
+    "Use the left arm to grab the long teal microphone with white grooves, then pass it to the right arm, avoiding the medium-sized golden prize cup.",
+    "Grab the teal microphone with white bottom with the left arm, hand it to the right arm, avoiding the prize trophy with sturdy round base by 0.10m.",
+    "With the left arm, grab the switchable microphone with teal body, pass to the right arm, keeping the switchable microphone with teal body 0.10m from the smooth trophy with wide base.",
+    "Pick up the long teal microphone with white grooves, avoid the smooth trophy with wide base by 0.10m, pass the long teal microphone with white grooves from the left arm to the right arm.",
+    "Grab the teal microphone with white bottom with the left arm, keep 0.10m from the smooth trophy with wide base, hand to the right arm.",
+    "Use the left arm to grab the long teal microphone with white grooves, pass to the right arm, keep the long teal microphone with white grooves 0.10m from the medium-sized golden prize cup.",
+    "Use the left arm to grab the switchable microphone with teal body, then pass it to the right arm, avoiding the medium-sized golden prize cup.",
+    "Grab the long teal microphone with white grooves with the left arm, hand it to the right arm, avoiding the prize trophy with sturdy round base by 0.10m.",
+    "With the left arm, grab the switchable microphone with teal body, pass to the right arm, keeping the switchable microphone with teal body 0.10m from the prize trophy with sturdy round base.",
+    "Pick up the switchable microphone with teal body, avoid the prize trophy with sturdy round base by 0.10m, pass the switchable microphone with teal body from the left arm to the right arm.",
+    "Grab the teal microphone with white bottom with the left arm, keep 0.10m from the prize trophy with sturdy round base, hand to the right arm.",
+    "Use the left arm to grab the long teal microphone with white grooves, pass to the right arm, keep the long teal microphone with white grooves 0.10m from the prize trophy with sturdy round base.",
+    "Use the left arm to grab the switchable microphone with teal body, then pass it to the right arm, avoiding the smooth trophy with wide base.",
+    "Grab the long teal microphone with white grooves with the left arm, hand it to the right arm, avoiding the smooth trophy with wide base by 0.10m.",
+    "With the left arm, grab the teal microphone with white bottom, pass to the right arm, keeping the teal microphone with white bottom 0.10m from the smooth trophy with wide base.",
+    "Pick up the switchable microphone with teal body, avoid the prize trophy with sturdy round base by 0.10m, pass the switchable microphone with teal body from the left arm to the right arm.",
+    "Grab the teal microphone with white bottom with the left arm, keep 0.10m from the prize trophy with sturdy round base, hand to the right arm.",
+    "Use the left arm to grab the long teal microphone with white grooves, pass to the right arm, keep the long teal microphone with white grooves 0.10m from the smooth trophy with wide base.",
+    "Use the left arm to grab the long teal microphone with white grooves, then pass it to the right arm, avoiding the prize trophy with sturdy round base.",
+    "Grab the teal microphone with white bottom with the left arm, hand it to the right arm, avoiding the medium-sized golden prize cup by 0.10m.",
+    "With the left arm, grab the teal microphone with white bottom, pass to the right arm, keeping the teal microphone with white bottom 0.10m from the prize trophy with sturdy round base.",
+    "Pick up the teal microphone with white bottom, avoid the prize trophy with sturdy round base by 0.10m, pass the teal microphone with white bottom from the left arm to the right arm.",
+    "Grab the teal microphone with white bottom with the left arm, keep 0.10m from the medium-sized golden prize cup, hand to the right arm.",
+    "Use the left arm to grab the switchable microphone with teal body, pass to the right arm, keep the switchable microphone with teal body 0.10m from the prize trophy with sturdy round base.",
+    "Use the left arm to grab the teal microphone with white bottom, then pass it to the right arm, avoiding the medium-sized golden prize cup.",
+    "Grab the switchable microphone with teal body with the left arm, hand it to the right arm, avoiding the smooth trophy with wide base by 0.10m.",
+    "With the left arm, grab the teal microphone with white bottom, pass to the right arm, keeping the teal microphone with white bottom 0.10m from the medium-sized golden prize cup.",
+    "Pick up the switchable microphone with teal body, avoid the medium-sized golden prize cup by 0.10m, pass the switchable microphone with teal body from the left arm to the right arm.",
+    "Grab the teal microphone with white bottom with the left arm, keep 0.10m from the smooth trophy with wide base, hand to the right arm.",
+    "Use the left arm to grab the switchable microphone with teal body, pass to the right arm, keep the switchable microphone with teal body 0.10m from the medium-sized golden prize cup.",
+    "Use the left arm to grab the long teal microphone with white grooves, then pass it to the right arm, avoiding the smooth trophy with wide base.",
+    "Grab the long teal microphone with white grooves with the left arm, hand it to the right arm, avoiding the medium-sized golden prize cup by 0.10m.",
+    "With the left arm, grab the long teal microphone with white grooves, pass to the right arm, keeping the long teal microphone with white grooves 0.10m from the prize trophy with sturdy round base.",
+    "Pick up the teal microphone with white bottom, avoid the medium-sized golden prize cup by 0.10m, pass the teal microphone with white bottom from the left arm to the right arm."
+  ]
+}
\ No newline at end of file
diff --git a/handover_mic_wp1/handover_mic_wp1/instructions/episode37.json b/handover_mic_wp1/handover_mic_wp1/instructions/episode37.json
new file mode 100644
index 0000000000000000000000000000000000000000..e2a0fecc95c584b2ff9656de6e55025f920828b9
--- /dev/null
+++ b/handover_mic_wp1/handover_mic_wp1/instructions/episode37.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the dark blue microphone, move it staying 0.10m from the gold cup on black base, then complete the handoff.",
+    "Have the left arm grasp the gray stem microphone with foam top, avoid the two-handled golden trophy by 0.10m, and transfer the gray stem microphone with foam top to the right arm.",
+    "Have the left arm take the dark blue microphone, then the right arm takes the dark blue microphone, keep 0.10m from the medium-sized prize trophy.",
+    "Grab the round head microphone, carry it around the gold cup on black base with 0.10m clearance, then hand over.",
+    "Pick up the small audio microphone with the left arm, transfer to the right arm, stay away from the trophy with detailed top and base.",
+    "Move the microphone for recording sound from the left arm to the right arm while keeping clear of the shiny gold trophy with black stand.",
+    "Use the left arm to lift the audio microphone with soft covering, then give the audio microphone with soft covering to the right arm, avoiding the gold cup on black base by 0.10m.",
+    "With the left arm, grasp the microphone with round foam head, then hand the microphone with round foam head to the right arm, avoiding the gold cup on black base.",
+    "Take the dark blue microphone using the left arm, keep away from the two-handled golden trophy, and pass to the right arm.",
+    "Take the gray and dark blue microphone with the left arm, route it away from the two-handled golden trophy, then hand it to the right arm.",
+    "With the left arm, take the medium microphone with two-tone color, keep distance from the shiny gold trophy with black stand, and give the medium microphone with two-tone color to the right arm.",
+    "Lift the round head microphone, keep it 0.10m away from the gold cup on black base, then pass it across.",
+    "Get the medium microphone with two-tone color with the left arm, shift the medium microphone with two-tone color to the right arm, maintaining 0.10m from the shiny gold trophy with black stand.",
+    "Let the left arm grasp the gray and dark blue microphone, move it 0.10m from the two-handled golden trophy, then the right arm receives.",
+    "Take the microphone for recording sound with the left arm, hand over to the right arm, keep the microphone for recording sound 0.10m away from the medium-sized prize trophy.",
+    "Pick up the microphone with round foam head using the left arm, transfer to the right arm, keep 0.10m from the gold trophy.",
+    "Using the left arm, take the microphone covered with foam tip and hand to the right arm, keeping 0.10m from the trophy with detailed top and base.",
+    "Using the left arm, grab the microphone with round foam head, keep 0.10m from the gold trophy, then give the microphone with round foam head to the right arm.",
+    "Secure the microphone with round foam head, route it at least 0.10m from the trophy with two side handles, then hand it over.",
+    "Lift the microphone with round foam head with the left arm, give the microphone with round foam head to the right arm, keep clear of the award trophy with black platform 0.10m.",
+    "Pick up the gray stem microphone with foam top, move it staying 0.10m from the gold and black prize cup, then complete the handoff.",
+    "Have the left arm grasp the small audio microphone, avoid the gold and black prize cup by 0.10m, and transfer the small audio microphone to the right arm.",
+    "Have the left arm take the medium microphone with two-tone color, then the right arm takes the medium microphone with two-tone color, keep 0.10m from the gold trophy.",
+    "Grab the medium microphone with two-tone color, carry it around the medium-sized prize trophy with 0.10m clearance, then hand over.",
+    "Pick up the microphone with dark blue padding with the left arm, transfer to the right arm, stay away from the gold and black prize cup.",
+    "Move the microphone for recording sound from the left arm to the right arm while keeping clear of the ornate gold cup.",
+    "Use the left arm to lift the audio microphone with soft covering, then give the audio microphone with soft covering to the right arm, avoiding the gold trophy by 0.10m.",
+    "With the left arm, grasp the gray and dark blue microphone, then hand the gray and dark blue microphone to the right arm, avoiding the gold and black prize cup.",
+    "Take the round head microphone using the left arm, keep away from the medium-sized prize trophy, and pass to the right arm.",
+    "Take the audio microphone with soft covering with the left arm, route it away from the gold trophy, then hand it to the right arm.",
+    "With the left arm, take the microphone with round foam head, keep distance from the gold cup on black base, and give the microphone with round foam head to the right arm.",
+    "Lift the gray and dark blue microphone, keep it 0.10m away from the medium-sized prize trophy, then pass it across.",
+    "Get the medium microphone with two-tone color with the left arm, shift the medium microphone with two-tone color to the right arm, maintaining 0.10m from the gold trophy.",
+    "Let the left arm grasp the gray stem microphone with foam top, move it 0.10m from the centerpiece gold trophy on sturdy base, then the right arm receives.",
+    "Take the microphone with smooth gray stem with the left arm, hand over to the right arm, keep the microphone with smooth gray stem 0.10m away from the medium-sized prize trophy.",
+    "Pick up the microphone with round foam head using the left arm, transfer to the right arm, keep 0.10m from the centerpiece gold trophy on sturdy base.",
+    "Using the left arm, take the round head microphone and hand to the right arm, keeping 0.10m from the gold cup on black base.",
+    "Using the left arm, grab the microphone with round foam head, keep 0.10m from the gold trophy, then give the microphone with round foam head to the right arm.",
+    "Secure the microphone for recording sound, route it at least 0.10m from the trophy with two side handles, then hand it over.",
+    "Lift the gray and dark blue microphone with the left arm, give the gray and dark blue microphone to the right arm, keep clear of the gold cup on black base 0.10m.",
+    "Pick up the microphone with dark blue padding, move it staying 0.10m from the gold trophy, then complete the handoff.",
+    "Have the left arm grasp the gray and dark blue microphone, avoid the gold cup on black base by 0.10m, and transfer the gray and dark blue microphone to the right arm.",
+    "Have the left arm take the dark blue microphone, then the right arm takes the dark blue microphone, keep 0.10m from the gold and black prize cup.",
+    "Grab the microphone for recording sound, carry it around the gold trophy with 0.10m clearance, then hand over.",
+    "Pick up the medium microphone with two-tone color with the left arm, transfer to the right arm, stay away from the trophy with detailed top and base.",
+    "Move the microphone covered with foam tip from the left arm to the right arm while keeping clear of the centerpiece gold trophy on sturdy base.",
+    "Use the left arm to lift the gray and dark blue microphone, then give the gray and dark blue microphone to the right arm, avoiding the centerpiece gold trophy on sturdy base by 0.10m.",
+    "With the left arm, grasp the dark blue microphone, then hand the dark blue microphone to the right arm, avoiding the medium-sized prize trophy.",
+    "Take the microphone with round foam head using the left arm, keep away from the ornate gold cup, and pass to the right arm.",
+    "Take the gray stem microphone with foam top with the left arm, route it away from the trophy with smooth polished finish, then hand it to the right arm.",
+    "With the left arm, take the small audio microphone, keep distance from the trophy with detailed top and base, and give the small audio microphone to the right arm.",
+    "Lift the gray stem microphone with foam top, keep it 0.10m away from the award trophy with black platform, then pass it across.",
+    "Get the round head microphone with the left arm, shift the round head microphone to the right arm, maintaining 0.10m from the centerpiece gold trophy on sturdy base.",
+    "Let the left arm grasp the audio microphone with soft covering, move it 0.10m from the two-handled golden trophy, then the right arm receives.",
+    "Take the dark blue microphone with the left arm, hand over to the right arm, keep the dark blue microphone 0.10m away from the award trophy with black platform.",
+    "Pick up the gray stem microphone with foam top using the left arm, transfer to the right arm, keep 0.10m from the trophy with smooth polished finish.",
+    "Using the left arm, take the audio microphone with soft covering and hand to the right arm, keeping 0.10m from the two-handled golden trophy.",
+    "Using the left arm, grab the microphone with smooth gray stem, keep 0.10m from the trophy with detailed top and base, then give the microphone with smooth gray stem to the right arm.",
+    "Secure the small audio microphone, route it at least 0.10m from the centerpiece gold trophy on sturdy base, then hand it over.",
+    "Lift the microphone for recording sound with the left arm, give the microphone for recording sound to the right arm, keep clear of the award trophy with black platform 0.10m.",
+    "Pick up the microphone for recording sound, move it staying 0.10m from the two-handled golden trophy, then complete the handoff.",
+    "Have the left arm grasp the gray stem microphone with foam top, avoid the shiny gold trophy with black stand by 0.10m, and transfer the gray stem microphone with foam top to the right arm.",
+    "Have the left arm take the microphone with smooth gray stem, then the right arm takes the microphone with smooth gray stem, keep 0.10m from the centerpiece gold trophy on sturdy base.",
+    "Grab the microphone with smooth gray stem, carry it around the two-handled golden trophy with 0.10m clearance, then hand over.",
+    "Pick up the audio microphone with soft covering with the left arm, transfer to the right arm, stay away from the gold and black prize cup.",
+    "Move the gray and dark blue microphone from the left arm to the right arm while keeping clear of the trophy with smooth polished finish.",
+    "Use the left arm to lift the round head microphone, then give the round head microphone to the right arm, avoiding the gold cup on black base by 0.10m.",
+    "With the left arm, grasp the microphone for recording sound, then hand the microphone for recording sound to the right arm, avoiding the gold cup on black base.",
+    "Take the gray and dark blue microphone using the left arm, keep away from the ornate gold cup, and pass to the right arm.",
+    "Take the round head microphone with the left arm, route it away from the medium-sized prize trophy, then hand it to the right arm.",
+    "With the left arm, take the microphone covered with foam tip, keep distance from the centerpiece gold trophy on sturdy base, and give the microphone covered with foam tip to the right arm.",
+    "Lift the gray stem microphone with foam top, keep it 0.10m away from the trophy with two side handles, then pass it across.",
+    "Get the microphone with dark blue padding with the left arm, shift the microphone with dark blue padding to the right arm, maintaining 0.10m from the trophy with detailed top and base.",
+    "Let the left arm grasp the microphone with smooth gray stem, move it 0.10m from the trophy with smooth polished finish, then the right arm receives.",
+    "Take the gray and dark blue microphone with the left arm, hand over to the right arm, keep the gray and dark blue microphone 0.10m away from the trophy with detailed top and base.",
+    "Pick up the dark blue microphone using the left arm, transfer to the right arm, keep 0.10m from the two-handled golden trophy.",
+    "Using the left arm, take the microphone with smooth gray stem and hand to the right arm, keeping 0.10m from the centerpiece gold trophy on sturdy base.",
+    "Using the left arm, grab the gray and dark blue microphone, keep 0.10m from the trophy with smooth polished finish, then give the gray and dark blue microphone to the right arm.",
+    "Secure the microphone with smooth gray stem, route it at least 0.10m from the gold trophy, then hand it over.",
+    "Lift the microphone with dark blue padding with the left arm, give the microphone with dark blue padding to the right arm, keep clear of the award trophy with black platform 0.10m.",
+    "Pick up the small audio microphone, move it staying 0.10m from the centerpiece gold trophy on sturdy base, then complete the handoff.",
+    "Have the left arm grasp the gray and dark blue microphone, avoid the trophy with smooth polished finish by 0.10m, and transfer the gray and dark blue microphone to the right arm.",
+    "Have the left arm take the round head microphone, then the right arm takes the round head microphone, keep 0.10m from the gold cup on black base.",
+    "Grab the gray stem microphone with foam top, carry it around the medium-sized prize trophy with 0.10m clearance, then hand over.",
+    "Pick up the microphone with round foam head with the left arm, transfer to the right arm, stay away from the gold cup on black base.",
+    "Move the gray stem microphone with foam top from the left arm to the right arm while keeping clear of the shiny gold trophy with black stand.",
+    "Use the left arm to lift the dark blue microphone, then give the dark blue microphone to the right arm, avoiding the trophy with detailed top and base by 0.10m.",
+    "With the left arm, grasp the dark blue microphone, then hand the dark blue microphone to the right arm, avoiding the two-handled golden trophy.",
+    "Take the medium microphone with two-tone color using the left arm, keep away from the gold cup on black base, and pass to the right arm.",
+    "Take the microphone with smooth gray stem with the left arm, route it away from the two-handled golden trophy, then hand it to the right arm.",
+    "With the left arm, take the round head microphone, keep distance from the medium-sized prize trophy, and give the round head microphone to the right arm.",
+    "Lift the microphone with round foam head, keep it 0.10m away from the trophy with two side handles, then pass it across.",
+    "Get the medium microphone with two-tone color with the left arm, shift the medium microphone with two-tone color to the right arm, maintaining 0.10m from the trophy with detailed top and base.",
+    "Let the left arm grasp the microphone with smooth gray stem, move it 0.10m from the gold cup on black base, then the right arm receives.",
+    "Take the microphone with round foam head with the left arm, hand over to the right arm, keep the microphone with round foam head 0.10m away from the gold and black prize cup.",
+    "Pick up the small audio microphone using the left arm, transfer to the right arm, keep 0.10m from the gold and black prize cup.",
+    "Using the left arm, take the dark blue microphone and hand to the right arm, keeping 0.10m from the trophy with smooth polished finish.",
+    "Using the left arm, grab the dark blue microphone, keep 0.10m from the medium-sized prize trophy, then give the dark blue microphone to the right arm.",
+    "Secure the microphone with dark blue padding, route it at least 0.10m from the shiny gold trophy with black stand, then hand it over.",
+    "Lift the dark blue microphone with the left arm, give the dark blue microphone to the right arm, keep clear of the trophy with smooth polished finish 0.10m."
+  ],
+  "unseen": [
+    "With the left arm, grab the compact microphone with two parts, pass to the right arm, keeping the compact microphone with two parts 0.10m from the smooth gold cup.",
+    "Use the left arm to grab the handheld microphone, pass to the right arm, keep the handheld microphone 0.10m from the smooth gold cup.",
+    "Grab the microphone with cylindrical handle with the left arm, hand it to the right arm, avoiding the smooth gold cup by 0.10m.",
+    "Grab the compact microphone with two parts with the left arm, keep 0.10m from the golden award cup, hand to the right arm.",
+    "Pick up the handheld microphone, avoid the trophy cup with curved handles by 0.10m, pass the handheld microphone from the left arm to the right arm.",
+    "Use the left arm to grab the handheld microphone, then pass it to the right arm, avoiding the golden award cup.",
+    "With the left arm, grab the handheld microphone, pass to the right arm, keeping the handheld microphone 0.10m from the trophy cup with curved handles.",
+    "Use the left arm to grab the compact microphone with two parts, pass to the right arm, keep the compact microphone with two parts 0.10m from the smooth gold cup.",
+    "Grab the compact microphone with two parts with the left arm, hand it to the right arm, avoiding the smooth gold cup by 0.10m.",
+    "Grab the microphone with cylindrical handle with the left arm, keep 0.10m from the trophy cup with curved handles, hand to the right arm.",
+    "Pick up the compact microphone with two parts, avoid the smooth gold cup by 0.10m, pass the compact microphone with two parts from the left arm to the right arm.",
+    "Use the left arm to grab the compact microphone with two parts, then pass it to the right arm, avoiding the golden award cup.",
+    "With the left arm, grab the handheld microphone, pass to the right arm, keeping the handheld microphone 0.10m from the golden award cup.",
+    "Use the left arm to grab the microphone with cylindrical handle, pass to the right arm, keep the microphone with cylindrical handle 0.10m from the golden award cup.",
+    "Grab the compact microphone with two parts with the left arm, hand it to the right arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Grab the handheld microphone with the left arm, keep 0.10m from the golden award cup, hand to the right arm.",
+    "Pick up the handheld microphone, avoid the golden award cup by 0.10m, pass the handheld microphone from the left arm to the right arm.",
+    "Use the left arm to grab the handheld microphone, then pass it to the right arm, avoiding the smooth gold cup.",
+    "With the left arm, grab the compact microphone with two parts, pass to the right arm, keeping the compact microphone with two parts 0.10m from the smooth gold cup.",
+    "Use the left arm to grab the microphone with cylindrical handle, pass to the right arm, keep the microphone with cylindrical handle 0.10m from the golden award cup.",
+    "Grab the compact microphone with two parts with the left arm, hand it to the right arm, avoiding the smooth gold cup by 0.10m.",
+    "Grab the handheld microphone with the left arm, keep 0.10m from the trophy cup with curved handles, hand to the right arm.",
+    "Pick up the compact microphone with two parts, avoid the smooth gold cup by 0.10m, pass the compact microphone with two parts from the left arm to the right arm.",
+    "Use the left arm to grab the compact microphone with two parts, then pass it to the right arm, avoiding the golden award cup.",
+    "With the left arm, grab the compact microphone with two parts, pass to the right arm, keeping the compact microphone with two parts 0.10m from the trophy cup with curved handles.",
+    "Use the left arm to grab the microphone with cylindrical handle, pass to the right arm, keep the microphone with cylindrical handle 0.10m from the trophy cup with curved handles.",
+    "Grab the handheld microphone with the left arm, hand it to the right arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Grab the handheld microphone with the left arm, keep 0.10m from the smooth gold cup, hand to the right arm.",
+    "Pick up the microphone with cylindrical handle, avoid the trophy cup with curved handles by 0.10m, pass the microphone with cylindrical handle from the left arm to the right arm.",
+    "Use the left arm to grab the microphone with cylindrical handle, then pass it to the right arm, avoiding the golden award cup.",
+    "With the left arm, grab the compact microphone with two parts, pass to the right arm, keeping the compact microphone with two parts 0.10m from the smooth gold cup.",
+    "Use the left arm to grab the microphone with cylindrical handle, pass to the right arm, keep the microphone with cylindrical handle 0.10m from the golden award cup.",
+    "Grab the microphone with cylindrical handle with the left arm, hand it to the right arm, avoiding the golden award cup by 0.10m.",
+    "Grab the compact microphone with two parts with the left arm, keep 0.10m from the smooth gold cup, hand to the right arm.",
+    "Pick up the compact microphone with two parts, avoid the trophy cup with curved handles by 0.10m, pass the compact microphone with two parts from the left arm to the right arm.",
+    "Use the left arm to grab the microphone with cylindrical handle, then pass it to the right arm, avoiding the smooth gold cup.",
+    "With the left arm, grab the handheld microphone, pass to the right arm, keeping the handheld microphone 0.10m from the golden award cup.",
+    "Use the left arm to grab the compact microphone with two parts, pass to the right arm, keep the compact microphone with two parts 0.10m from the golden award cup.",
+    "Grab the microphone with cylindrical handle with the left arm, hand it to the right arm, avoiding the golden award cup by 0.10m.",
+    "Grab the compact microphone with two parts with the left arm, keep 0.10m from the trophy cup with curved handles, hand to the right arm.",
+    "Pick up the compact microphone with two parts, avoid the smooth gold cup by 0.10m, pass the compact microphone with two parts from the left arm to the right arm.",
+    "Use the left arm to grab the handheld microphone, then pass it to the right arm, avoiding the golden award cup.",
+    "With the left arm, grab the handheld microphone, pass to the right arm, keeping the handheld microphone 0.10m from the golden award cup.",
+    "Use the left arm to grab the microphone with cylindrical handle, pass to the right arm, keep the microphone with cylindrical handle 0.10m from the trophy cup with curved handles.",
+    "Grab the microphone with cylindrical handle with the left arm, hand it to the right arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Grab the handheld microphone with the left arm, keep 0.10m from the smooth gold cup, hand to the right arm.",
+    "Pick up the microphone with cylindrical handle, avoid the trophy cup with curved handles by 0.10m, pass the microphone with cylindrical handle from the left arm to the right arm.",
+    "Use the left arm to grab the compact microphone with two parts, then pass it to the right arm, avoiding the trophy cup with curved handles.",
+    "With the left arm, grab the compact microphone with two parts, pass to the right arm, keeping the compact microphone with two parts 0.10m from the trophy cup with curved handles.",
+    "Use the left arm to grab the compact microphone with two parts, pass to the right arm, keep the compact microphone with two parts 0.10m from the smooth gold cup.",
+    "Grab the compact microphone with two parts with the left arm, hand it to the right arm, avoiding the smooth gold cup by 0.10m.",
+    "Grab the microphone with cylindrical handle with the left arm, keep 0.10m from the smooth gold cup, hand to the right arm.",
+    "Pick up the compact microphone with two parts, avoid the smooth gold cup by 0.10m, pass the compact microphone with two parts from the left arm to the right arm.",
+    "Use the left arm to grab the compact microphone with two parts, then pass it to the right arm, avoiding the trophy cup with curved handles.",
+    "With the left arm, grab the microphone with cylindrical handle, pass to the right arm, keeping the microphone with cylindrical handle 0.10m from the smooth gold cup.",
+    "Use the left arm to grab the compact microphone with two parts, pass to the right arm, keep the compact microphone with two parts 0.10m from the golden award cup.",
+    "Grab the compact microphone with two parts with the left arm, hand it to the right arm, avoiding the golden award cup by 0.10m.",
+    "Grab the microphone with cylindrical handle with the left arm, keep 0.10m from the golden award cup, hand to the right arm.",
+    "Pick up the handheld microphone, avoid the trophy cup with curved handles by 0.10m, pass the handheld microphone from the left arm to the right arm.",
+    "Use the left arm to grab the handheld microphone, then pass it to the right arm, avoiding the trophy cup with curved handles.",
+    "With the left arm, grab the compact microphone with two parts, pass to the right arm, keeping the compact microphone with two parts 0.10m from the smooth gold cup.",
+    "Use the left arm to grab the handheld microphone, pass to the right arm, keep the handheld microphone 0.10m from the trophy cup with curved handles.",
+    "Grab the compact microphone with two parts with the left arm, hand it to the right arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Grab the handheld microphone with the left arm, keep 0.10m from the smooth gold cup, hand to the right arm.",
+    "Pick up the microphone with cylindrical handle, avoid the trophy cup with curved handles by 0.10m, pass the microphone with cylindrical handle from the left arm to the right arm.",
+    "Use the left arm to grab the handheld microphone, then pass it to the right arm, avoiding the smooth gold cup.",
+    "With the left arm, grab the compact microphone with two parts, pass to the right arm, keeping the compact microphone with two parts 0.10m from the golden award cup.",
+    "Use the left arm to grab the handheld microphone, pass to the right arm, keep the handheld microphone 0.10m from the golden award cup.",
+    "Grab the compact microphone with two parts with the left arm, hand it to the right arm, avoiding the golden award cup by 0.10m.",
+    "Grab the handheld microphone with the left arm, keep 0.10m from the smooth gold cup, hand to the right arm.",
+    "Pick up the microphone with cylindrical handle, avoid the trophy cup with curved handles by 0.10m, pass the microphone with cylindrical handle from the left arm to the right arm.",
+    "Use the left arm to grab the microphone with cylindrical handle, then pass it to the right arm, avoiding the golden award cup.",
+    "With the left arm, grab the handheld microphone, pass to the right arm, keeping the handheld microphone 0.10m from the golden award cup.",
+    "Use the left arm to grab the compact microphone with two parts, pass to the right arm, keep the compact microphone with two parts 0.10m from the smooth gold cup.",
+    "Grab the compact microphone with two parts with the left arm, hand it to the right arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Grab the handheld microphone with the left arm, keep 0.10m from the golden award cup, hand to the right arm.",
+    "Pick up the handheld microphone, avoid the smooth gold cup by 0.10m, pass the handheld microphone from the left arm to the right arm.",
+    "Use the left arm to grab the handheld microphone, then pass it to the right arm, avoiding the smooth gold cup.",
+    "With the left arm, grab the microphone with cylindrical handle, pass to the right arm, keeping the microphone with cylindrical handle 0.10m from the golden award cup.",
+    "Use the left arm to grab the microphone with cylindrical handle, pass to the right arm, keep the microphone with cylindrical handle 0.10m from the golden award cup.",
+    "Grab the microphone with cylindrical handle with the left arm, hand it to the right arm, avoiding the smooth gold cup by 0.10m.",
+    "Grab the microphone with cylindrical handle with the left arm, keep 0.10m from the golden award cup, hand to the right arm.",
+    "Pick up the handheld microphone, avoid the golden award cup by 0.10m, pass the handheld microphone from the left arm to the right arm.",
+    "Use the left arm to grab the compact microphone with two parts, then pass it to the right arm, avoiding the trophy cup with curved handles.",
+    "With the left arm, grab the compact microphone with two parts, pass to the right arm, keeping the compact microphone with two parts 0.10m from the trophy cup with curved handles.",
+    "Use the left arm to grab the handheld microphone, pass to the right arm, keep the handheld microphone 0.10m from the smooth gold cup.",
+    "Grab the compact microphone with two parts with the left arm, hand it to the right arm, avoiding the golden award cup by 0.10m.",
+    "Grab the handheld microphone with the left arm, keep 0.10m from the golden award cup, hand to the right arm.",
+    "Pick up the compact microphone with two parts, avoid the golden award cup by 0.10m, pass the compact microphone with two parts from the left arm to the right arm.",
+    "Use the left arm to grab the microphone with cylindrical handle, then pass it to the right arm, avoiding the trophy cup with curved handles.",
+    "With the left arm, grab the microphone with cylindrical handle, pass to the right arm, keeping the microphone with cylindrical handle 0.10m from the trophy cup with curved handles.",
+    "Use the left arm to grab the handheld microphone, pass to the right arm, keep the handheld microphone 0.10m from the trophy cup with curved handles.",
+    "Grab the handheld microphone with the left arm, hand it to the right arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Grab the microphone with cylindrical handle with the left arm, keep 0.10m from the golden award cup, hand to the right arm.",
+    "Pick up the microphone with cylindrical handle, avoid the smooth gold cup by 0.10m, pass the microphone with cylindrical handle from the left arm to the right arm.",
+    "Use the left arm to grab the compact microphone with two parts, then pass it to the right arm, avoiding the golden award cup.",
+    "With the left arm, grab the handheld microphone, pass to the right arm, keeping the handheld microphone 0.10m from the smooth gold cup.",
+    "Use the left arm to grab the microphone with cylindrical handle, pass to the right arm, keep the microphone with cylindrical handle 0.10m from the smooth gold cup.",
+    "Grab the compact microphone with two parts with the left arm, hand it to the right arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Grab the handheld microphone with the left arm, keep 0.10m from the trophy cup with curved handles, hand to the right arm."
+  ]
+}
\ No newline at end of file
diff --git a/handover_mic_wp1/handover_mic_wp1/instructions/episode38.json b/handover_mic_wp1/handover_mic_wp1/instructions/episode38.json
new file mode 100644
index 0000000000000000000000000000000000000000..c166a45e4bbf8386c099e02aab8bf68d5e5eeee6
--- /dev/null
+++ b/handover_mic_wp1/handover_mic_wp1/instructions/episode38.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Move the metal head microphone from the right arm to the left arm while keeping clear of the gold trophy on square black base.",
+    "Take the black and white microphone with the right arm, hand over to the left arm, keep the black and white microphone 0.10m away from the medium trophy with gold and black colors.",
+    "Pick up the microphone with textured metal head, move it staying 0.10m from the trophy with dangling ribbons, then complete the handoff.",
+    "Lift the microphone with cylindrical handle with the right arm, give the microphone with cylindrical handle to the left arm, keep clear of the gold trophy on square black base 0.10m.",
+    "Take the smooth plastic microphone handle using the right arm, keep away from the shiny trophy with top knob, and pass to the left arm.",
+    "Grab the mesh-patterned microphone head, carry it around the cup-shaped trophy with handles with 0.10m clearance, then hand over.",
+    "Using the right arm, take the black and white microphone and hand to the left arm, keeping 0.10m from the gold trophy on square black base.",
+    "Let the right arm grasp the mesh-patterned microphone head, move it 0.10m from the black bottom trophy with smooth finish, then the left arm receives.",
+    "Secure the microphone with rounded mesh head, route it at least 0.10m from the medium-sized golden trophy, then hand it over.",
+    "With the right arm, grasp the smooth plastic microphone handle, then hand the smooth plastic microphone handle to the left arm, avoiding the trophy with dangling ribbons.",
+    "Have the right arm grasp the microphone for voice recording, avoid the gold trophy on square black base by 0.10m, and transfer the microphone for voice recording to the left arm.",
+    "With the right arm, take the smooth plastic microphone handle, keep distance from the golden award trophy with black base, and give the smooth plastic microphone handle to the left arm.",
+    "Pick up the microphone with cylindrical handle using the right arm, transfer to the left arm, keep 0.10m from the golden award trophy with black base.",
+    "Have the right arm take the handheld microphone, then the left arm takes the handheld microphone, keep 0.10m from the decorative trophy with curved handles.",
+    "Get the microphone with textured metal head with the right arm, shift the microphone with textured metal head to the left arm, maintaining 0.10m from the trophy with dangling ribbons.",
+    "Lift the microphone with rounded mesh head, keep it 0.10m away from the gold trophy, then pass it across.",
+    "Take the metal head microphone with the right arm, route it away from the gold trophy on square black base, then hand it to the left arm.",
+    "Using the right arm, grab the microphone with rounded mesh head, keep 0.10m from the medium trophy with gold and black colors, then give the microphone with rounded mesh head to the left arm.",
+    "Pick up the compact size microphone with the right arm, transfer to the left arm, stay away from the gold trophy on square black base.",
+    "Use the right arm to lift the smooth plastic microphone handle, then give the smooth plastic microphone handle to the left arm, avoiding the shiny trophy with top knob by 0.10m.",
+    "Move the white microphone handle black accents from the right arm to the left arm while keeping clear of the gold award cup with two handles.",
+    "Take the mesh-patterned microphone head with the right arm, hand over to the left arm, keep the mesh-patterned microphone head 0.10m away from the cup-shaped trophy with handles.",
+    "Pick up the compact size microphone, move it staying 0.10m from the golden award trophy with black base, then complete the handoff.",
+    "Lift the compact size microphone with the right arm, give the compact size microphone to the left arm, keep clear of the gold trophy 0.10m.",
+    "Take the mesh-patterned microphone head using the right arm, keep away from the gold trophy on square black base, and pass to the left arm.",
+    "Grab the black and white microphone, carry it around the medium trophy with gold and black colors with 0.10m clearance, then hand over.",
+    "Using the right arm, take the handheld microphone and hand to the left arm, keeping 0.10m from the golden award trophy with black base.",
+    "Let the right arm grasp the black and white microphone, move it 0.10m from the medium trophy with gold and black colors, then the left arm receives.",
+    "Secure the microphone with textured metal head, route it at least 0.10m from the black bottom trophy with smooth finish, then hand it over.",
+    "With the right arm, grasp the compact size microphone, then hand the compact size microphone to the left arm, avoiding the trophy cup with curved sides.",
+    "Have the right arm grasp the microphone for voice recording, avoid the black bottom trophy with smooth finish by 0.10m, and transfer the microphone for voice recording to the left arm.",
+    "With the right arm, take the handheld microphone, keep distance from the cup-shaped trophy with handles, and give the handheld microphone to the left arm.",
+    "Pick up the mesh-patterned microphone head using the right arm, transfer to the left arm, keep 0.10m from the gold trophy on square black base.",
+    "Have the right arm take the black and white microphone, then the left arm takes the black and white microphone, keep 0.10m from the black bottom trophy with smooth finish.",
+    "Get the compact size microphone with the right arm, shift the compact size microphone to the left arm, maintaining 0.10m from the trophy cup with curved sides.",
+    "Lift the mesh-patterned microphone head, keep it 0.10m away from the cup-shaped trophy with handles, then pass it across.",
+    "Take the microphone for voice recording with the right arm, route it away from the gold trophy on square black base, then hand it to the left arm.",
+    "Using the right arm, grab the microphone with black tip and white body, keep 0.10m from the decorative trophy with curved handles, then give the microphone with black tip and white body to the left arm.",
+    "Pick up the microphone with textured metal head with the right arm, transfer to the left arm, stay away from the black bottom trophy with smooth finish.",
+    "Use the right arm to lift the microphone for voice recording, then give the microphone for voice recording to the left arm, avoiding the medium-sized golden trophy by 0.10m.",
+    "Move the microphone with rounded mesh head from the right arm to the left arm while keeping clear of the decorative trophy with curved handles.",
+    "Take the metal head microphone with the right arm, hand over to the left arm, keep the metal head microphone 0.10m away from the medium trophy with gold and black colors.",
+    "Pick up the microphone for voice recording, move it staying 0.10m from the cup-shaped trophy with handles, then complete the handoff.",
+    "Lift the microphone with rounded mesh head with the right arm, give the microphone with rounded mesh head to the left arm, keep clear of the gold trophy on square black base 0.10m.",
+    "Take the smooth plastic microphone handle using the right arm, keep away from the decorative trophy with curved handles, and pass to the left arm.",
+    "Grab the mesh-patterned microphone head, carry it around the gold award cup with two handles with 0.10m clearance, then hand over.",
+    "Using the right arm, take the mesh-patterned microphone head and hand to the left arm, keeping 0.10m from the trophy cup with curved sides.",
+    "Let the right arm grasp the metal head microphone, move it 0.10m from the gold trophy, then the left arm receives.",
+    "Secure the microphone with rounded mesh head, route it at least 0.10m from the shiny trophy with top knob, then hand it over.",
+    "With the right arm, grasp the compact size microphone, then hand the compact size microphone to the left arm, avoiding the gold award cup with two handles.",
+    "Have the right arm grasp the black and white microphone, avoid the black bottom trophy with smooth finish by 0.10m, and transfer the black and white microphone to the left arm.",
+    "With the right arm, take the microphone with cylindrical handle, keep distance from the medium trophy with gold and black colors, and give the microphone with cylindrical handle to the left arm.",
+    "Pick up the metal head microphone using the right arm, transfer to the left arm, keep 0.10m from the decorative trophy with curved handles.",
+    "Have the right arm take the microphone with cylindrical handle, then the left arm takes the microphone with cylindrical handle, keep 0.10m from the gold trophy.",
+    "Get the metal head microphone with the right arm, shift the metal head microphone to the left arm, maintaining 0.10m from the gold trophy on square black base.",
+    "Lift the microphone for voice recording, keep it 0.10m away from the trophy cup with curved sides, then pass it across.",
+    "Take the microphone with black tip and white body with the right arm, route it away from the trophy with dangling ribbons, then hand it to the left arm.",
+    "Using the right arm, grab the microphone with cylindrical handle, keep 0.10m from the shiny trophy with top knob, then give the microphone with cylindrical handle to the left arm.",
+    "Pick up the compact size microphone with the right arm, transfer to the left arm, stay away from the medium trophy with gold and black colors.",
+    "Use the right arm to lift the compact size microphone, then give the compact size microphone to the left arm, avoiding the shiny trophy with top knob by 0.10m.",
+    "Move the microphone with textured metal head from the right arm to the left arm while keeping clear of the gold award cup with two handles.",
+    "Take the handheld microphone with the right arm, hand over to the left arm, keep the handheld microphone 0.10m away from the medium trophy with gold and black colors.",
+    "Pick up the microphone for voice recording, move it staying 0.10m from the decorative trophy with curved handles, then complete the handoff.",
+    "Lift the microphone for voice recording with the right arm, give the microphone for voice recording to the left arm, keep clear of the medium-sized golden trophy 0.10m.",
+    "Take the microphone with textured metal head using the right arm, keep away from the trophy with dangling ribbons, and pass to the left arm.",
+    "Grab the microphone with black tip and white body, carry it around the medium-sized golden trophy with 0.10m clearance, then hand over.",
+    "Using the right arm, take the microphone for voice recording and hand to the left arm, keeping 0.10m from the golden award trophy with black base.",
+    "Let the right arm grasp the mesh-patterned microphone head, move it 0.10m from the shiny trophy with top knob, then the left arm receives.",
+    "Secure the microphone with black tip and white body, route it at least 0.10m from the gold award cup with two handles, then hand it over.",
+    "With the right arm, grasp the black and white microphone, then hand the black and white microphone to the left arm, avoiding the gold award cup with two handles.",
+    "Have the right arm grasp the microphone with rounded mesh head, avoid the medium trophy with gold and black colors by 0.10m, and transfer the microphone with rounded mesh head to the left arm.",
+    "With the right arm, take the mesh-patterned microphone head, keep distance from the golden award trophy with black base, and give the mesh-patterned microphone head to the left arm.",
+    "Pick up the metal head microphone using the right arm, transfer to the left arm, keep 0.10m from the shiny trophy with top knob.",
+    "Have the right arm take the mesh-patterned microphone head, then the left arm takes the mesh-patterned microphone head, keep 0.10m from the gold trophy on square black base.",
+    "Get the microphone with black tip and white body with the right arm, shift the microphone with black tip and white body to the left arm, maintaining 0.10m from the black bottom trophy with smooth finish.",
+    "Lift the microphone for voice recording, keep it 0.10m away from the medium-sized golden trophy, then pass it across.",
+    "Take the microphone with textured metal head with the right arm, route it away from the decorative trophy with curved handles, then hand it to the left arm.",
+    "Using the right arm, grab the microphone with textured metal head, keep 0.10m from the cup-shaped trophy with handles, then give the microphone with textured metal head to the left arm.",
+    "Pick up the microphone with cylindrical handle with the right arm, transfer to the left arm, stay away from the gold trophy.",
+    "Use the right arm to lift the smooth plastic microphone handle, then give the smooth plastic microphone handle to the left arm, avoiding the gold award cup with two handles by 0.10m.",
+    "Move the smooth plastic microphone handle from the right arm to the left arm while keeping clear of the medium trophy with gold and black colors.",
+    "Take the compact size microphone with the right arm, hand over to the left arm, keep the compact size microphone 0.10m away from the trophy with dangling ribbons.",
+    "Pick up the compact size microphone, move it staying 0.10m from the black bottom trophy with smooth finish, then complete the handoff.",
+    "Lift the microphone with black tip and white body with the right arm, give the microphone with black tip and white body to the left arm, keep clear of the black bottom trophy with smooth finish 0.10m.",
+    "Take the microphone with black tip and white body using the right arm, keep away from the golden award trophy with black base, and pass to the left arm.",
+    "Grab the microphone with cylindrical handle, carry it around the golden award trophy with black base with 0.10m clearance, then hand over.",
+    "Using the right arm, take the compact size microphone and hand to the left arm, keeping 0.10m from the golden award trophy with black base.",
+    "Let the right arm grasp the metal head microphone, move it 0.10m from the golden award trophy with black base, then the left arm receives.",
+    "Secure the microphone with cylindrical handle, route it at least 0.10m from the black bottom trophy with smooth finish, then hand it over.",
+    "With the right arm, grasp the metal head microphone, then hand the metal head microphone to the left arm, avoiding the decorative trophy with curved handles.",
+    "Have the right arm grasp the mesh-patterned microphone head, avoid the medium trophy with gold and black colors by 0.10m, and transfer the mesh-patterned microphone head to the left arm.",
+    "With the right arm, take the black and white microphone, keep distance from the gold trophy on square black base, and give the black and white microphone to the left arm.",
+    "Pick up the mesh-patterned microphone head using the right arm, transfer to the left arm, keep 0.10m from the golden award trophy with black base.",
+    "Have the right arm take the microphone with black tip and white body, then the left arm takes the microphone with black tip and white body, keep 0.10m from the cup-shaped trophy with handles.",
+    "Get the compact size microphone with the right arm, shift the compact size microphone to the left arm, maintaining 0.10m from the gold award cup with two handles.",
+    "Lift the smooth plastic microphone handle, keep it 0.10m away from the medium-sized golden trophy, then pass it across.",
+    "Take the microphone with rounded mesh head with the right arm, route it away from the gold trophy on square black base, then hand it to the left arm.",
+    "Using the right arm, grab the mesh-patterned microphone head, keep 0.10m from the gold trophy, then give the mesh-patterned microphone head to the left arm.",
+    "Pick up the microphone with cylindrical handle with the right arm, transfer to the left arm, stay away from the trophy with dangling ribbons.",
+    "Use the right arm to lift the compact size microphone, then give the compact size microphone to the left arm, avoiding the golden award trophy with black base by 0.10m."
+  ],
+  "unseen": [
+    "Grab the black and white plastic microphone with the right arm, hand it to the left arm, avoiding the shiny trophy cup by 0.10m.",
+    "Pick up the black and white plastic microphone, avoid the shiny trophy cup by 0.10m, pass the black and white plastic microphone from the right arm to the left arm.",
+    "Use the right arm to grab the microphone used for audio input, pass to the left arm, keep the microphone used for audio input 0.10m from the smooth golden trophy.",
+    "Use the right arm to grab the black and white plastic microphone, then pass it to the left arm, avoiding the trophy with red and blue ribbons.",
+    "With the right arm, grab the lightweight handheld microphone, pass to the left arm, keeping the lightweight handheld microphone 0.10m from the trophy with red and blue ribbons.",
+    "Grab the lightweight handheld microphone with the right arm, keep 0.10m from the smooth golden trophy, hand to the left arm.",
+    "Grab the black and white plastic microphone with the right arm, hand it to the left arm, avoiding the smooth golden trophy by 0.10m.",
+    "Pick up the black and white plastic microphone, avoid the shiny trophy cup by 0.10m, pass the black and white plastic microphone from the right arm to the left arm.",
+    "Use the right arm to grab the lightweight handheld microphone, pass to the left arm, keep the lightweight handheld microphone 0.10m from the smooth golden trophy.",
+    "Use the right arm to grab the black and white plastic microphone, then pass it to the left arm, avoiding the trophy with red and blue ribbons.",
+    "With the right arm, grab the lightweight handheld microphone, pass to the left arm, keeping the lightweight handheld microphone 0.10m from the shiny trophy cup.",
+    "Grab the lightweight handheld microphone with the right arm, keep 0.10m from the smooth golden trophy, hand to the left arm.",
+    "Grab the lightweight handheld microphone with the right arm, hand it to the left arm, avoiding the shiny trophy cup by 0.10m.",
+    "Pick up the microphone used for audio input, avoid the shiny trophy cup by 0.10m, pass the microphone used for audio input from the right arm to the left arm.",
+    "Use the right arm to grab the black and white plastic microphone, pass to the left arm, keep the black and white plastic microphone 0.10m from the smooth golden trophy.",
+    "Use the right arm to grab the black and white plastic microphone, then pass it to the left arm, avoiding the smooth golden trophy.",
+    "With the right arm, grab the black and white plastic microphone, pass to the left arm, keeping the black and white plastic microphone 0.10m from the trophy with red and blue ribbons.",
+    "Grab the microphone used for audio input with the right arm, keep 0.10m from the trophy with red and blue ribbons, hand to the left arm.",
+    "Grab the lightweight handheld microphone with the right arm, hand it to the left arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "Pick up the lightweight handheld microphone, avoid the shiny trophy cup by 0.10m, pass the lightweight handheld microphone from the right arm to the left arm.",
+    "Use the right arm to grab the black and white plastic microphone, pass to the left arm, keep the black and white plastic microphone 0.10m from the shiny trophy cup.",
+    "Use the right arm to grab the lightweight handheld microphone, then pass it to the left arm, avoiding the smooth golden trophy.",
+    "With the right arm, grab the microphone used for audio input, pass to the left arm, keeping the microphone used for audio input 0.10m from the trophy with red and blue ribbons.",
+    "Grab the black and white plastic microphone with the right arm, keep 0.10m from the shiny trophy cup, hand to the left arm.",
+    "Grab the lightweight handheld microphone with the right arm, hand it to the left arm, avoiding the smooth golden trophy by 0.10m.",
+    "Pick up the lightweight handheld microphone, avoid the smooth golden trophy by 0.10m, pass the lightweight handheld microphone from the right arm to the left arm.",
+    "Use the right arm to grab the microphone used for audio input, pass to the left arm, keep the microphone used for audio input 0.10m from the smooth golden trophy.",
+    "Use the right arm to grab the black and white plastic microphone, then pass it to the left arm, avoiding the trophy with red and blue ribbons.",
+    "With the right arm, grab the microphone used for audio input, pass to the left arm, keeping the microphone used for audio input 0.10m from the smooth golden trophy.",
+    "Grab the lightweight handheld microphone with the right arm, keep 0.10m from the shiny trophy cup, hand to the left arm.",
+    "Grab the black and white plastic microphone with the right arm, hand it to the left arm, avoiding the shiny trophy cup by 0.10m.",
+    "Pick up the black and white plastic microphone, avoid the smooth golden trophy by 0.10m, pass the black and white plastic microphone from the right arm to the left arm.",
+    "Use the right arm to grab the black and white plastic microphone, pass to the left arm, keep the black and white plastic microphone 0.10m from the trophy with red and blue ribbons.",
+    "Use the right arm to grab the lightweight handheld microphone, then pass it to the left arm, avoiding the smooth golden trophy.",
+    "With the right arm, grab the black and white plastic microphone, pass to the left arm, keeping the black and white plastic microphone 0.10m from the trophy with red and blue ribbons.",
+    "Grab the microphone used for audio input with the right arm, keep 0.10m from the smooth golden trophy, hand to the left arm.",
+    "Grab the black and white plastic microphone with the right arm, hand it to the left arm, avoiding the shiny trophy cup by 0.10m.",
+    "Pick up the black and white plastic microphone, avoid the trophy with red and blue ribbons by 0.10m, pass the black and white plastic microphone from the right arm to the left arm.",
+    "Use the right arm to grab the black and white plastic microphone, pass to the left arm, keep the black and white plastic microphone 0.10m from the shiny trophy cup.",
+    "Use the right arm to grab the black and white plastic microphone, then pass it to the left arm, avoiding the trophy with red and blue ribbons.",
+    "With the right arm, grab the microphone used for audio input, pass to the left arm, keeping the microphone used for audio input 0.10m from the smooth golden trophy.",
+    "Grab the lightweight handheld microphone with the right arm, keep 0.10m from the trophy with red and blue ribbons, hand to the left arm.",
+    "Grab the lightweight handheld microphone with the right arm, hand it to the left arm, avoiding the shiny trophy cup by 0.10m.",
+    "Pick up the black and white plastic microphone, avoid the shiny trophy cup by 0.10m, pass the black and white plastic microphone from the right arm to the left arm.",
+    "Use the right arm to grab the microphone used for audio input, pass to the left arm, keep the microphone used for audio input 0.10m from the trophy with red and blue ribbons.",
+    "Use the right arm to grab the microphone used for audio input, then pass it to the left arm, avoiding the shiny trophy cup.",
+    "With the right arm, grab the lightweight handheld microphone, pass to the left arm, keeping the lightweight handheld microphone 0.10m from the shiny trophy cup.",
+    "Grab the lightweight handheld microphone with the right arm, keep 0.10m from the smooth golden trophy, hand to the left arm.",
+    "Grab the black and white plastic microphone with the right arm, hand it to the left arm, avoiding the shiny trophy cup by 0.10m.",
+    "Pick up the lightweight handheld microphone, avoid the smooth golden trophy by 0.10m, pass the lightweight handheld microphone from the right arm to the left arm.",
+    "Use the right arm to grab the microphone used for audio input, pass to the left arm, keep the microphone used for audio input 0.10m from the shiny trophy cup.",
+    "Use the right arm to grab the microphone used for audio input, then pass it to the left arm, avoiding the smooth golden trophy.",
+    "With the right arm, grab the microphone used for audio input, pass to the left arm, keeping the microphone used for audio input 0.10m from the trophy with red and blue ribbons.",
+    "Grab the lightweight handheld microphone with the right arm, keep 0.10m from the smooth golden trophy, hand to the left arm.",
+    "Grab the black and white plastic microphone with the right arm, hand it to the left arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "Pick up the lightweight handheld microphone, avoid the trophy with red and blue ribbons by 0.10m, pass the lightweight handheld microphone from the right arm to the left arm.",
+    "Use the right arm to grab the lightweight handheld microphone, pass to the left arm, keep the lightweight handheld microphone 0.10m from the trophy with red and blue ribbons.",
+    "Use the right arm to grab the black and white plastic microphone, then pass it to the left arm, avoiding the shiny trophy cup.",
+    "With the right arm, grab the microphone used for audio input, pass to the left arm, keeping the microphone used for audio input 0.10m from the trophy with red and blue ribbons.",
+    "Grab the lightweight handheld microphone with the right arm, keep 0.10m from the shiny trophy cup, hand to the left arm.",
+    "Grab the microphone used for audio input with the right arm, hand it to the left arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "Pick up the black and white plastic microphone, avoid the smooth golden trophy by 0.10m, pass the black and white plastic microphone from the right arm to the left arm.",
+    "Use the right arm to grab the black and white plastic microphone, pass to the left arm, keep the black and white plastic microphone 0.10m from the trophy with red and blue ribbons.",
+    "Use the right arm to grab the microphone used for audio input, then pass it to the left arm, avoiding the smooth golden trophy.",
+    "With the right arm, grab the black and white plastic microphone, pass to the left arm, keeping the black and white plastic microphone 0.10m from the shiny trophy cup.",
+    "Grab the microphone used for audio input with the right arm, keep 0.10m from the smooth golden trophy, hand to the left arm.",
+    "Grab the black and white plastic microphone with the right arm, hand it to the left arm, avoiding the smooth golden trophy by 0.10m.",
+    "Pick up the lightweight handheld microphone, avoid the trophy with red and blue ribbons by 0.10m, pass the lightweight handheld microphone from the right arm to the left arm.",
+    "Use the right arm to grab the microphone used for audio input, pass to the left arm, keep the microphone used for audio input 0.10m from the shiny trophy cup.",
+    "Use the right arm to grab the lightweight handheld microphone, then pass it to the left arm, avoiding the trophy with red and blue ribbons.",
+    "With the right arm, grab the lightweight handheld microphone, pass to the left arm, keeping the lightweight handheld microphone 0.10m from the shiny trophy cup.",
+    "Grab the lightweight handheld microphone with the right arm, keep 0.10m from the shiny trophy cup, hand to the left arm.",
+    "Grab the lightweight handheld microphone with the right arm, hand it to the left arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "Pick up the lightweight handheld microphone, avoid the shiny trophy cup by 0.10m, pass the lightweight handheld microphone from the right arm to the left arm.",
+    "Use the right arm to grab the microphone used for audio input, pass to the left arm, keep the microphone used for audio input 0.10m from the trophy with red and blue ribbons.",
+    "Use the right arm to grab the microphone used for audio input, then pass it to the left arm, avoiding the trophy with red and blue ribbons.",
+    "With the right arm, grab the black and white plastic microphone, pass to the left arm, keeping the black and white plastic microphone 0.10m from the smooth golden trophy.",
+    "Grab the lightweight handheld microphone with the right arm, keep 0.10m from the trophy with red and blue ribbons, hand to the left arm.",
+    "Grab the black and white plastic microphone with the right arm, hand it to the left arm, avoiding the shiny trophy cup by 0.10m.",
+    "Pick up the microphone used for audio input, avoid the shiny trophy cup by 0.10m, pass the microphone used for audio input from the right arm to the left arm.",
+    "Use the right arm to grab the microphone used for audio input, pass to the left arm, keep the microphone used for audio input 0.10m from the smooth golden trophy.",
+    "Use the right arm to grab the black and white plastic microphone, then pass it to the left arm, avoiding the shiny trophy cup.",
+    "With the right arm, grab the black and white plastic microphone, pass to the left arm, keeping the black and white plastic microphone 0.10m from the smooth golden trophy.",
+    "Grab the microphone used for audio input with the right arm, keep 0.10m from the trophy with red and blue ribbons, hand to the left arm.",
+    "Grab the lightweight handheld microphone with the right arm, hand it to the left arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "Pick up the lightweight handheld microphone, avoid the shiny trophy cup by 0.10m, pass the lightweight handheld microphone from the right arm to the left arm.",
+    "Use the right arm to grab the black and white plastic microphone, pass to the left arm, keep the black and white plastic microphone 0.10m from the smooth golden trophy.",
+    "Use the right arm to grab the lightweight handheld microphone, then pass it to the left arm, avoiding the trophy with red and blue ribbons.",
+    "With the right arm, grab the black and white plastic microphone, pass to the left arm, keeping the black and white plastic microphone 0.10m from the smooth golden trophy.",
+    "Grab the lightweight handheld microphone with the right arm, keep 0.10m from the smooth golden trophy, hand to the left arm.",
+    "Grab the lightweight handheld microphone with the right arm, hand it to the left arm, avoiding the smooth golden trophy by 0.10m.",
+    "Pick up the lightweight handheld microphone, avoid the shiny trophy cup by 0.10m, pass the lightweight handheld microphone from the right arm to the left arm.",
+    "Use the right arm to grab the lightweight handheld microphone, pass to the left arm, keep the lightweight handheld microphone 0.10m from the smooth golden trophy.",
+    "Use the right arm to grab the microphone used for audio input, then pass it to the left arm, avoiding the shiny trophy cup.",
+    "With the right arm, grab the lightweight handheld microphone, pass to the left arm, keeping the lightweight handheld microphone 0.10m from the shiny trophy cup.",
+    "Grab the black and white plastic microphone with the right arm, keep 0.10m from the shiny trophy cup, hand to the left arm.",
+    "Grab the lightweight handheld microphone with the right arm, hand it to the left arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "Pick up the black and white plastic microphone, avoid the shiny trophy cup by 0.10m, pass the black and white plastic microphone from the right arm to the left arm.",
+    "Use the right arm to grab the black and white plastic microphone, pass to the left arm, keep the black and white plastic microphone 0.10m from the trophy with red and blue ribbons.",
+    "Use the right arm to grab the black and white plastic microphone, then pass it to the left arm, avoiding the shiny trophy cup."
+  ]
+}
\ No newline at end of file
diff --git a/handover_mic_wp1/handover_mic_wp1/instructions/episode39.json b/handover_mic_wp1/handover_mic_wp1/instructions/episode39.json
new file mode 100644
index 0000000000000000000000000000000000000000..78d64f1a7a417a2070c959efeffac7426901614a
--- /dev/null
+++ b/handover_mic_wp1/handover_mic_wp1/instructions/episode39.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With the right arm, grasp the teal microphone, then hand the teal microphone to the left arm, avoiding the gold award cup with two handles.",
+    "Secure the white and teal sound microphone, route it at least 0.10m from the trophy cup with curved sides, then hand it over.",
+    "Grab the teal microphone, carry it around the cup-shaped trophy with handles with 0.10m clearance, then hand over.",
+    "Use the right arm to lift the rounded white tip microphone, then give the rounded white tip microphone to the left arm, avoiding the gold trophy by 0.10m.",
+    "With the right arm, take the textured white microphone head, keep distance from the medium-sized golden trophy, and give the textured white microphone head to the left arm.",
+    "Using the right arm, take the compact teal and white microphone and hand to the left arm, keeping 0.10m from the medium trophy with gold and black colors.",
+    "Pick up the textured white microphone head, move it staying 0.10m from the trophy with dangling ribbons, then complete the handoff.",
+    "Have the right arm take the compact teal and white microphone, then the left arm takes the compact teal and white microphone, keep 0.10m from the trophy cup with curved sides.",
+    "Move the white and teal sound microphone from the right arm to the left arm while keeping clear of the gold trophy on square black base.",
+    "Pick up the microphone with slider switch using the right arm, transfer to the left arm, keep 0.10m from the gold trophy on square black base.",
+    "Take the white and teal sound microphone with the right arm, hand over to the left arm, keep the white and teal sound microphone 0.10m away from the gold award cup with two handles.",
+    "Pick up the plastic teal microphone with slider with the right arm, transfer to the left arm, stay away from the cup-shaped trophy with handles.",
+    "Using the right arm, grab the teal microphone, keep 0.10m from the gold award cup with two handles, then give the teal microphone to the left arm.",
+    "Let the right arm grasp the white and teal sound microphone, move it 0.10m from the trophy cup with curved sides, then the left arm receives.",
+    "Lift the microphone with white rounded head with the right arm, give the microphone with white rounded head to the left arm, keep clear of the cup-shaped trophy with handles 0.10m.",
+    "Take the textured white microphone head using the right arm, keep away from the decorative trophy with curved handles, and pass to the left arm.",
+    "Have the right arm grasp the plastic teal microphone with slider, avoid the gold trophy by 0.10m, and transfer the plastic teal microphone with slider to the left arm.",
+    "Take the sound microphone with teal body with the right arm, route it away from the black bottom trophy with smooth finish, then hand it to the left arm.",
+    "Lift the white bottom microphone with textured tip, keep it 0.10m away from the gold award cup with two handles, then pass it across.",
+    "Get the sound microphone with teal body with the right arm, shift the sound microphone with teal body to the left arm, maintaining 0.10m from the black bottom trophy with smooth finish.",
+    "With the right arm, grasp the white and teal sound microphone, then hand the white and teal sound microphone to the left arm, avoiding the gold trophy on square black base.",
+    "Secure the compact teal and white microphone, route it at least 0.10m from the gold trophy, then hand it over.",
+    "Grab the long microphone with smooth teal grip, carry it around the gold trophy with 0.10m clearance, then hand over.",
+    "Use the right arm to lift the long microphone with smooth teal grip, then give the long microphone with smooth teal grip to the left arm, avoiding the black bottom trophy with smooth finish by 0.10m.",
+    "With the right arm, take the white and teal sound microphone, keep distance from the trophy cup with curved sides, and give the white and teal sound microphone to the left arm.",
+    "Using the right arm, take the compact teal and white microphone and hand to the left arm, keeping 0.10m from the gold trophy on square black base.",
+    "Pick up the microphone with slider switch, move it staying 0.10m from the medium trophy with gold and black colors, then complete the handoff.",
+    "Have the right arm take the white and teal sound microphone, then the left arm takes the white and teal sound microphone, keep 0.10m from the shiny trophy with top knob.",
+    "Move the handheld teal microphone from the right arm to the left arm while keeping clear of the decorative trophy with curved handles.",
+    "Pick up the handheld teal microphone using the right arm, transfer to the left arm, keep 0.10m from the shiny trophy with top knob.",
+    "Take the sound microphone with teal body with the right arm, hand over to the left arm, keep the sound microphone with teal body 0.10m away from the medium-sized golden trophy.",
+    "Pick up the microphone with slider switch with the right arm, transfer to the left arm, stay away from the gold award cup with two handles.",
+    "Using the right arm, grab the handheld teal microphone, keep 0.10m from the gold trophy, then give the handheld teal microphone to the left arm.",
+    "Let the right arm grasp the compact teal and white microphone, move it 0.10m from the medium-sized golden trophy, then the left arm receives.",
+    "Lift the microphone with white rounded head with the right arm, give the microphone with white rounded head to the left arm, keep clear of the medium-sized golden trophy 0.10m.",
+    "Take the long microphone with smooth teal grip using the right arm, keep away from the decorative trophy with curved handles, and pass to the left arm.",
+    "Have the right arm grasp the white bottom microphone with textured tip, avoid the trophy cup with curved sides by 0.10m, and transfer the white bottom microphone with textured tip to the left arm.",
+    "Take the rounded white tip microphone with the right arm, route it away from the black bottom trophy with smooth finish, then hand it to the left arm.",
+    "Lift the microphone with slider switch, keep it 0.10m away from the black bottom trophy with smooth finish, then pass it across.",
+    "Get the long microphone with smooth teal grip with the right arm, shift the long microphone with smooth teal grip to the left arm, maintaining 0.10m from the shiny trophy with top knob.",
+    "With the right arm, grasp the teal microphone, then hand the teal microphone to the left arm, avoiding the gold trophy.",
+    "Secure the sound microphone with teal body, route it at least 0.10m from the medium-sized golden trophy, then hand it over.",
+    "Grab the white bottom microphone with textured tip, carry it around the gold award cup with two handles with 0.10m clearance, then hand over.",
+    "Use the right arm to lift the textured white microphone head, then give the textured white microphone head to the left arm, avoiding the trophy cup with curved sides by 0.10m.",
+    "With the right arm, take the handheld teal microphone, keep distance from the cup-shaped trophy with handles, and give the handheld teal microphone to the left arm.",
+    "Using the right arm, take the long microphone with smooth teal grip and hand to the left arm, keeping 0.10m from the cup-shaped trophy with handles.",
+    "Pick up the plastic teal microphone with slider, move it staying 0.10m from the gold award cup with two handles, then complete the handoff.",
+    "Have the right arm take the handheld teal microphone, then the left arm takes the handheld teal microphone, keep 0.10m from the gold award cup with two handles.",
+    "Move the textured white microphone head from the right arm to the left arm while keeping clear of the gold award cup with two handles.",
+    "Pick up the rounded white tip microphone using the right arm, transfer to the left arm, keep 0.10m from the medium-sized golden trophy.",
+    "Take the compact teal and white microphone with the right arm, hand over to the left arm, keep the compact teal and white microphone 0.10m away from the gold award cup with two handles.",
+    "Pick up the plastic teal microphone with slider with the right arm, transfer to the left arm, stay away from the gold trophy.",
+    "Using the right arm, grab the compact teal and white microphone, keep 0.10m from the decorative trophy with curved handles, then give the compact teal and white microphone to the left arm.",
+    "Let the right arm grasp the sound microphone with teal body, move it 0.10m from the decorative trophy with curved handles, then the left arm receives.",
+    "Lift the white bottom microphone with textured tip with the right arm, give the white bottom microphone with textured tip to the left arm, keep clear of the gold award cup with two handles 0.10m.",
+    "Take the long microphone with smooth teal grip using the right arm, keep away from the gold trophy on square black base, and pass to the left arm.",
+    "Have the right arm grasp the textured white microphone head, avoid the medium-sized golden trophy by 0.10m, and transfer the textured white microphone head to the left arm.",
+    "Take the white bottom microphone with textured tip with the right arm, route it away from the trophy cup with curved sides, then hand it to the left arm.",
+    "Lift the rounded white tip microphone, keep it 0.10m away from the medium-sized golden trophy, then pass it across.",
+    "Get the teal microphone with the right arm, shift the teal microphone to the left arm, maintaining 0.10m from the golden award trophy with black base.",
+    "With the right arm, grasp the compact teal and white microphone, then hand the compact teal and white microphone to the left arm, avoiding the trophy cup with curved sides.",
+    "Secure the microphone with slider switch, route it at least 0.10m from the shiny trophy with top knob, then hand it over.",
+    "Grab the teal microphone, carry it around the decorative trophy with curved handles with 0.10m clearance, then hand over.",
+    "Use the right arm to lift the compact teal and white microphone, then give the compact teal and white microphone to the left arm, avoiding the trophy with dangling ribbons by 0.10m.",
+    "With the right arm, take the sound microphone with teal body, keep distance from the cup-shaped trophy with handles, and give the sound microphone with teal body to the left arm.",
+    "Using the right arm, take the microphone with slider switch and hand to the left arm, keeping 0.10m from the shiny trophy with top knob.",
+    "Pick up the compact teal and white microphone, move it staying 0.10m from the trophy with dangling ribbons, then complete the handoff.",
+    "Have the right arm take the teal microphone, then the left arm takes the teal microphone, keep 0.10m from the medium trophy with gold and black colors.",
+    "Move the compact teal and white microphone from the right arm to the left arm while keeping clear of the gold award cup with two handles.",
+    "Pick up the microphone with white rounded head using the right arm, transfer to the left arm, keep 0.10m from the medium trophy with gold and black colors.",
+    "Take the handheld teal microphone with the right arm, hand over to the left arm, keep the handheld teal microphone 0.10m away from the gold trophy on square black base.",
+    "Pick up the white and teal sound microphone with the right arm, transfer to the left arm, stay away from the gold trophy on square black base.",
+    "Using the right arm, grab the handheld teal microphone, keep 0.10m from the gold trophy, then give the handheld teal microphone to the left arm.",
+    "Let the right arm grasp the handheld teal microphone, move it 0.10m from the decorative trophy with curved handles, then the left arm receives.",
+    "Lift the white bottom microphone with textured tip with the right arm, give the white bottom microphone with textured tip to the left arm, keep clear of the gold trophy on square black base 0.10m.",
+    "Take the white bottom microphone with textured tip using the right arm, keep away from the trophy with dangling ribbons, and pass to the left arm.",
+    "Have the right arm grasp the long microphone with smooth teal grip, avoid the trophy with dangling ribbons by 0.10m, and transfer the long microphone with smooth teal grip to the left arm.",
+    "Take the handheld teal microphone with the right arm, route it away from the trophy cup with curved sides, then hand it to the left arm.",
+    "Lift the teal microphone, keep it 0.10m away from the decorative trophy with curved handles, then pass it across.",
+    "Get the sound microphone with teal body with the right arm, shift the sound microphone with teal body to the left arm, maintaining 0.10m from the gold trophy.",
+    "With the right arm, grasp the long microphone with smooth teal grip, then hand the long microphone with smooth teal grip to the left arm, avoiding the trophy cup with curved sides.",
+    "Secure the rounded white tip microphone, route it at least 0.10m from the black bottom trophy with smooth finish, then hand it over.",
+    "Grab the microphone with white rounded head, carry it around the trophy cup with curved sides with 0.10m clearance, then hand over.",
+    "Use the right arm to lift the microphone with white rounded head, then give the microphone with white rounded head to the left arm, avoiding the decorative trophy with curved handles by 0.10m.",
+    "With the right arm, take the plastic teal microphone with slider, keep distance from the black bottom trophy with smooth finish, and give the plastic teal microphone with slider to the left arm.",
+    "Using the right arm, take the compact teal and white microphone and hand to the left arm, keeping 0.10m from the golden award trophy with black base.",
+    "Pick up the handheld teal microphone, move it staying 0.10m from the trophy with dangling ribbons, then complete the handoff.",
+    "Have the right arm take the long microphone with smooth teal grip, then the left arm takes the long microphone with smooth teal grip, keep 0.10m from the decorative trophy with curved handles.",
+    "Move the sound microphone with teal body from the right arm to the left arm while keeping clear of the decorative trophy with curved handles.",
+    "Pick up the compact teal and white microphone using the right arm, transfer to the left arm, keep 0.10m from the trophy with dangling ribbons.",
+    "Take the sound microphone with teal body with the right arm, hand over to the left arm, keep the sound microphone with teal body 0.10m away from the decorative trophy with curved handles.",
+    "Pick up the plastic teal microphone with slider with the right arm, transfer to the left arm, stay away from the medium trophy with gold and black colors.",
+    "Using the right arm, grab the textured white microphone head, keep 0.10m from the cup-shaped trophy with handles, then give the textured white microphone head to the left arm.",
+    "Let the right arm grasp the white bottom microphone with textured tip, move it 0.10m from the gold award cup with two handles, then the left arm receives.",
+    "Lift the plastic teal microphone with slider with the right arm, give the plastic teal microphone with slider to the left arm, keep clear of the cup-shaped trophy with handles 0.10m.",
+    "Take the rounded white tip microphone using the right arm, keep away from the trophy cup with curved sides, and pass to the left arm.",
+    "Have the right arm grasp the handheld teal microphone, avoid the medium trophy with gold and black colors by 0.10m, and transfer the handheld teal microphone to the left arm.",
+    "Take the rounded white tip microphone with the right arm, route it away from the gold trophy on square black base, then hand it to the left arm.",
+    "Lift the white bottom microphone with textured tip, keep it 0.10m away from the decorative trophy with curved handles, then pass it across.",
+    "Get the white bottom microphone with textured tip with the right arm, shift the white bottom microphone with textured tip to the left arm, maintaining 0.10m from the decorative trophy with curved handles."
+  ],
+  "unseen": [
+    "Pick up the teal microphone with white bottom, avoid the smooth golden trophy by 0.10m, pass the teal microphone with white bottom from the right arm to the left arm.",
+    "Use the right arm to grab the switchable microphone with teal body, pass to the left arm, keep the switchable microphone with teal body 0.10m from the smooth golden trophy.",
+    "With the right arm, grab the long teal microphone with white grooves, pass to the left arm, keeping the long teal microphone with white grooves 0.10m from the trophy with red and blue ribbons.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the smooth golden trophy by 0.10m.",
+    "Grab the long teal microphone with white grooves with the right arm, keep 0.10m from the smooth golden trophy, hand to the left arm.",
+    "Use the right arm to grab the teal microphone with white bottom, then pass it to the left arm, avoiding the trophy with red and blue ribbons.",
+    "Pick up the long teal microphone with white grooves, avoid the smooth golden trophy by 0.10m, pass the long teal microphone with white grooves from the right arm to the left arm.",
+    "Use the right arm to grab the long teal microphone with white grooves, pass to the left arm, keep the long teal microphone with white grooves 0.10m from the shiny trophy cup.",
+    "With the right arm, grab the teal microphone with white bottom, pass to the left arm, keeping the teal microphone with white bottom 0.10m from the shiny trophy cup.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the smooth golden trophy by 0.10m.",
+    "Grab the teal microphone with white bottom with the right arm, keep 0.10m from the trophy with red and blue ribbons, hand to the left arm.",
+    "Use the right arm to grab the switchable microphone with teal body, then pass it to the left arm, avoiding the trophy with red and blue ribbons.",
+    "Pick up the switchable microphone with teal body, avoid the shiny trophy cup by 0.10m, pass the switchable microphone with teal body from the right arm to the left arm.",
+    "Use the right arm to grab the teal microphone with white bottom, pass to the left arm, keep the teal microphone with white bottom 0.10m from the trophy with red and blue ribbons.",
+    "With the right arm, grab the switchable microphone with teal body, pass to the left arm, keeping the switchable microphone with teal body 0.10m from the trophy with red and blue ribbons.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the shiny trophy cup by 0.10m.",
+    "Grab the teal microphone with white bottom with the right arm, keep 0.10m from the trophy with red and blue ribbons, hand to the left arm.",
+    "Use the right arm to grab the switchable microphone with teal body, then pass it to the left arm, avoiding the shiny trophy cup.",
+    "Pick up the long teal microphone with white grooves, avoid the shiny trophy cup by 0.10m, pass the long teal microphone with white grooves from the right arm to the left arm.",
+    "Use the right arm to grab the long teal microphone with white grooves, pass to the left arm, keep the long teal microphone with white grooves 0.10m from the shiny trophy cup.",
+    "With the right arm, grab the teal microphone with white bottom, pass to the left arm, keeping the teal microphone with white bottom 0.10m from the smooth golden trophy.",
+    "Grab the teal microphone with white bottom with the right arm, hand it to the left arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "Grab the teal microphone with white bottom with the right arm, keep 0.10m from the smooth golden trophy, hand to the left arm.",
+    "Use the right arm to grab the long teal microphone with white grooves, then pass it to the left arm, avoiding the trophy with red and blue ribbons.",
+    "Pick up the switchable microphone with teal body, avoid the shiny trophy cup by 0.10m, pass the switchable microphone with teal body from the right arm to the left arm.",
+    "Use the right arm to grab the teal microphone with white bottom, pass to the left arm, keep the teal microphone with white bottom 0.10m from the shiny trophy cup.",
+    "With the right arm, grab the long teal microphone with white grooves, pass to the left arm, keeping the long teal microphone with white grooves 0.10m from the smooth golden trophy.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the smooth golden trophy by 0.10m.",
+    "Grab the teal microphone with white bottom with the right arm, keep 0.10m from the shiny trophy cup, hand to the left arm.",
+    "Use the right arm to grab the long teal microphone with white grooves, then pass it to the left arm, avoiding the shiny trophy cup.",
+    "Pick up the teal microphone with white bottom, avoid the shiny trophy cup by 0.10m, pass the teal microphone with white bottom from the right arm to the left arm.",
+    "Use the right arm to grab the switchable microphone with teal body, pass to the left arm, keep the switchable microphone with teal body 0.10m from the smooth golden trophy.",
+    "With the right arm, grab the switchable microphone with teal body, pass to the left arm, keeping the switchable microphone with teal body 0.10m from the trophy with red and blue ribbons.",
+    "Grab the long teal microphone with white grooves with the right arm, hand it to the left arm, avoiding the smooth golden trophy by 0.10m.",
+    "Grab the long teal microphone with white grooves with the right arm, keep 0.10m from the shiny trophy cup, hand to the left arm.",
+    "Use the right arm to grab the long teal microphone with white grooves, then pass it to the left arm, avoiding the shiny trophy cup.",
+    "Pick up the long teal microphone with white grooves, avoid the trophy with red and blue ribbons by 0.10m, pass the long teal microphone with white grooves from the right arm to the left arm.",
+    "Use the right arm to grab the long teal microphone with white grooves, pass to the left arm, keep the long teal microphone with white grooves 0.10m from the shiny trophy cup.",
+    "With the right arm, grab the long teal microphone with white grooves, pass to the left arm, keeping the long teal microphone with white grooves 0.10m from the shiny trophy cup.",
+    "Grab the long teal microphone with white grooves with the right arm, hand it to the left arm, avoiding the shiny trophy cup by 0.10m.",
+    "Grab the switchable microphone with teal body with the right arm, keep 0.10m from the trophy with red and blue ribbons, hand to the left arm.",
+    "Use the right arm to grab the long teal microphone with white grooves, then pass it to the left arm, avoiding the trophy with red and blue ribbons.",
+    "Pick up the teal microphone with white bottom, avoid the shiny trophy cup by 0.10m, pass the teal microphone with white bottom from the right arm to the left arm.",
+    "Use the right arm to grab the teal microphone with white bottom, pass to the left arm, keep the teal microphone with white bottom 0.10m from the trophy with red and blue ribbons.",
+    "With the right arm, grab the long teal microphone with white grooves, pass to the left arm, keeping the long teal microphone with white grooves 0.10m from the trophy with red and blue ribbons.",
+    "Grab the teal microphone with white bottom with the right arm, hand it to the left arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "Grab the switchable microphone with teal body with the right arm, keep 0.10m from the trophy with red and blue ribbons, hand to the left arm.",
+    "Use the right arm to grab the long teal microphone with white grooves, then pass it to the left arm, avoiding the shiny trophy cup.",
+    "Pick up the teal microphone with white bottom, avoid the smooth golden trophy by 0.10m, pass the teal microphone with white bottom from the right arm to the left arm.",
+    "Use the right arm to grab the long teal microphone with white grooves, pass to the left arm, keep the long teal microphone with white grooves 0.10m from the trophy with red and blue ribbons.",
+    "With the right arm, grab the teal microphone with white bottom, pass to the left arm, keeping the teal microphone with white bottom 0.10m from the shiny trophy cup.",
+    "Grab the long teal microphone with white grooves with the right arm, hand it to the left arm, avoiding the shiny trophy cup by 0.10m.",
+    "Grab the switchable microphone with teal body with the right arm, keep 0.10m from the trophy with red and blue ribbons, hand to the left arm.",
+    "Use the right arm to grab the switchable microphone with teal body, then pass it to the left arm, avoiding the shiny trophy cup.",
+    "Pick up the switchable microphone with teal body, avoid the trophy with red and blue ribbons by 0.10m, pass the switchable microphone with teal body from the right arm to the left arm.",
+    "Use the right arm to grab the teal microphone with white bottom, pass to the left arm, keep the teal microphone with white bottom 0.10m from the smooth golden trophy.",
+    "With the right arm, grab the switchable microphone with teal body, pass to the left arm, keeping the switchable microphone with teal body 0.10m from the trophy with red and blue ribbons.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the smooth golden trophy by 0.10m.",
+    "Grab the long teal microphone with white grooves with the right arm, keep 0.10m from the smooth golden trophy, hand to the left arm.",
+    "Use the right arm to grab the teal microphone with white bottom, then pass it to the left arm, avoiding the smooth golden trophy.",
+    "Pick up the switchable microphone with teal body, avoid the shiny trophy cup by 0.10m, pass the switchable microphone with teal body from the right arm to the left arm.",
+    "Use the right arm to grab the switchable microphone with teal body, pass to the left arm, keep the switchable microphone with teal body 0.10m from the trophy with red and blue ribbons.",
+    "With the right arm, grab the switchable microphone with teal body, pass to the left arm, keeping the switchable microphone with teal body 0.10m from the shiny trophy cup.",
+    "Grab the teal microphone with white bottom with the right arm, hand it to the left arm, avoiding the smooth golden trophy by 0.10m.",
+    "Grab the long teal microphone with white grooves with the right arm, keep 0.10m from the smooth golden trophy, hand to the left arm.",
+    "Use the right arm to grab the teal microphone with white bottom, then pass it to the left arm, avoiding the smooth golden trophy.",
+    "Pick up the long teal microphone with white grooves, avoid the smooth golden trophy by 0.10m, pass the long teal microphone with white grooves from the right arm to the left arm.",
+    "Use the right arm to grab the teal microphone with white bottom, pass to the left arm, keep the teal microphone with white bottom 0.10m from the shiny trophy cup.",
+    "With the right arm, grab the long teal microphone with white grooves, pass to the left arm, keeping the long teal microphone with white grooves 0.10m from the smooth golden trophy.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the shiny trophy cup by 0.10m.",
+    "Grab the switchable microphone with teal body with the right arm, keep 0.10m from the trophy with red and blue ribbons, hand to the left arm.",
+    "Use the right arm to grab the switchable microphone with teal body, then pass it to the left arm, avoiding the smooth golden trophy.",
+    "Pick up the teal microphone with white bottom, avoid the shiny trophy cup by 0.10m, pass the teal microphone with white bottom from the right arm to the left arm.",
+    "Use the right arm to grab the teal microphone with white bottom, pass to the left arm, keep the teal microphone with white bottom 0.10m from the smooth golden trophy.",
+    "With the right arm, grab the switchable microphone with teal body, pass to the left arm, keeping the switchable microphone with teal body 0.10m from the smooth golden trophy.",
+    "Grab the long teal microphone with white grooves with the right arm, hand it to the left arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "Grab the long teal microphone with white grooves with the right arm, keep 0.10m from the smooth golden trophy, hand to the left arm.",
+    "Use the right arm to grab the switchable microphone with teal body, then pass it to the left arm, avoiding the trophy with red and blue ribbons.",
+    "Pick up the switchable microphone with teal body, avoid the trophy with red and blue ribbons by 0.10m, pass the switchable microphone with teal body from the right arm to the left arm.",
+    "Use the right arm to grab the switchable microphone with teal body, pass to the left arm, keep the switchable microphone with teal body 0.10m from the trophy with red and blue ribbons.",
+    "With the right arm, grab the long teal microphone with white grooves, pass to the left arm, keeping the long teal microphone with white grooves 0.10m from the trophy with red and blue ribbons.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the smooth golden trophy by 0.10m.",
+    "Grab the teal microphone with white bottom with the right arm, keep 0.10m from the smooth golden trophy, hand to the left arm.",
+    "Use the right arm to grab the switchable microphone with teal body, then pass it to the left arm, avoiding the smooth golden trophy.",
+    "Pick up the teal microphone with white bottom, avoid the smooth golden trophy by 0.10m, pass the teal microphone with white bottom from the right arm to the left arm.",
+    "Use the right arm to grab the long teal microphone with white grooves, pass to the left arm, keep the long teal microphone with white grooves 0.10m from the shiny trophy cup.",
+    "With the right arm, grab the long teal microphone with white grooves, pass to the left arm, keeping the long teal microphone with white grooves 0.10m from the smooth golden trophy.",
+    "Grab the teal microphone with white bottom with the right arm, hand it to the left arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "Grab the long teal microphone with white grooves with the right arm, keep 0.10m from the smooth golden trophy, hand to the left arm.",
+    "Use the right arm to grab the switchable microphone with teal body, then pass it to the left arm, avoiding the trophy with red and blue ribbons.",
+    "Pick up the switchable microphone with teal body, avoid the shiny trophy cup by 0.10m, pass the switchable microphone with teal body from the right arm to the left arm.",
+    "Use the right arm to grab the long teal microphone with white grooves, pass to the left arm, keep the long teal microphone with white grooves 0.10m from the smooth golden trophy.",
+    "With the right arm, grab the switchable microphone with teal body, pass to the left arm, keeping the switchable microphone with teal body 0.10m from the smooth golden trophy.",
+    "Grab the teal microphone with white bottom with the right arm, hand it to the left arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "Grab the long teal microphone with white grooves with the right arm, keep 0.10m from the smooth golden trophy, hand to the left arm.",
+    "Use the right arm to grab the long teal microphone with white grooves, then pass it to the left arm, avoiding the smooth golden trophy.",
+    "Pick up the teal microphone with white bottom, avoid the trophy with red and blue ribbons by 0.10m, pass the teal microphone with white bottom from the right arm to the left arm.",
+    "Use the right arm to grab the switchable microphone with teal body, pass to the left arm, keep the switchable microphone with teal body 0.10m from the trophy with red and blue ribbons.",
+    "With the right arm, grab the long teal microphone with white grooves, pass to the left arm, keeping the long teal microphone with white grooves 0.10m from the smooth golden trophy.",
+    "Grab the long teal microphone with white grooves with the right arm, hand it to the left arm, avoiding the shiny trophy cup by 0.10m."
+  ]
+}
\ No newline at end of file
diff --git a/handover_mic_wp1/handover_mic_wp1/instructions/episode4.json b/handover_mic_wp1/handover_mic_wp1/instructions/episode4.json
new file mode 100644
index 0000000000000000000000000000000000000000..720ea0850da94e8637f7cfbe72f7093b4525fc8f
--- /dev/null
+++ b/handover_mic_wp1/handover_mic_wp1/instructions/episode4.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the microphone with cylindrical handle with the right arm, route it away from the gold cup with handles, then hand it to the left arm.",
+    "Secure the microphone with rounded mesh head, route it at least 0.10m from the glossy yellow trophy with base, then hand it over.",
+    "Let the right arm grasp the smooth plastic microphone handle, move it 0.10m from the award cup with orange highlights, then the left arm receives.",
+    "With the right arm, grasp the microphone with rounded mesh head, then hand the microphone with rounded mesh head to the left arm, avoiding the two-handled prize trophy.",
+    "Grab the metal head microphone, carry it around the golden award with orange edges with 0.10m clearance, then hand over.",
+    "Using the right arm, grab the microphone with cylindrical handle, keep 0.10m from the decorative trophy with curved handles, then give the microphone with cylindrical handle to the left arm.",
+    "Take the microphone with rounded mesh head with the right arm, hand over to the left arm, keep the microphone with rounded mesh head 0.10m away from the two-handled prize trophy.",
+    "Pick up the smooth plastic microphone handle using the right arm, transfer to the left arm, keep 0.10m from the award trophy.",
+    "Lift the microphone for voice recording, keep it 0.10m away from the trophy cup, then pass it across.",
+    "Have the right arm take the microphone with rounded mesh head, then the left arm takes the microphone with rounded mesh head, keep 0.10m from the two-handled prize trophy.",
+    "Get the microphone with black tip and white body with the right arm, shift the microphone with black tip and white body to the left arm, maintaining 0.10m from the shiny golden prize trophy.",
+    "Use the right arm to lift the microphone for voice recording, then give the microphone for voice recording to the left arm, avoiding the two-handled prize trophy by 0.10m.",
+    "Pick up the handheld microphone with the right arm, transfer to the left arm, stay away from the smooth gold cup-shaped trophy.",
+    "Pick up the microphone with rounded mesh head, move it staying 0.10m from the award trophy, then complete the handoff.",
+    "Move the white microphone handle black accents from the right arm to the left arm while keeping clear of the gold cup with handles.",
+    "Using the right arm, take the handheld microphone and hand to the left arm, keeping 0.10m from the award trophy.",
+    "Have the right arm grasp the white microphone handle black accents, avoid the golden trophy by 0.10m, and transfer the white microphone handle black accents to the left arm.",
+    "Lift the microphone with textured metal head with the right arm, give the microphone with textured metal head to the left arm, keep clear of the glossy yellow trophy with base 0.10m.",
+    "Take the handheld microphone using the right arm, keep away from the decorative trophy with curved handles, and pass to the left arm.",
+    "With the right arm, take the microphone with cylindrical handle, keep distance from the trophy cup, and give the microphone with cylindrical handle to the left arm.",
+    "Take the microphone for voice recording with the right arm, route it away from the smooth gold cup-shaped trophy, then hand it to the left arm.",
+    "Secure the microphone with cylindrical handle, route it at least 0.10m from the award trophy, then hand it over.",
+    "Let the right arm grasp the metal head microphone, move it 0.10m from the smooth gold cup-shaped trophy, then the left arm receives.",
+    "With the right arm, grasp the mesh-patterned microphone head, then hand the mesh-patterned microphone head to the left arm, avoiding the gold cup with handles.",
+    "Grab the microphone with textured metal head, carry it around the glossy yellow trophy with base with 0.10m clearance, then hand over.",
+    "Using the right arm, grab the metal head microphone, keep 0.10m from the award trophy, then give the metal head microphone to the left arm.",
+    "Take the metal head microphone with the right arm, hand over to the left arm, keep the metal head microphone 0.10m away from the golden trophy.",
+    "Pick up the microphone with textured metal head using the right arm, transfer to the left arm, keep 0.10m from the award cup with orange highlights.",
+    "Lift the microphone with cylindrical handle, keep it 0.10m away from the golden trophy, then pass it across.",
+    "Have the right arm take the smooth plastic microphone handle, then the left arm takes the smooth plastic microphone handle, keep 0.10m from the smooth gold cup-shaped trophy.",
+    "Get the metal head microphone with the right arm, shift the metal head microphone to the left arm, maintaining 0.10m from the award trophy.",
+    "Use the right arm to lift the microphone with black tip and white body, then give the microphone with black tip and white body to the left arm, avoiding the glossy yellow trophy with base by 0.10m.",
+    "Pick up the handheld microphone with the right arm, transfer to the left arm, stay away from the award trophy.",
+    "Pick up the smooth plastic microphone handle, move it staying 0.10m from the award trophy, then complete the handoff.",
+    "Move the black and white microphone from the right arm to the left arm while keeping clear of the medium-sized yellow trophy.",
+    "Using the right arm, take the mesh-patterned microphone head and hand to the left arm, keeping 0.10m from the glossy yellow trophy with base.",
+    "Have the right arm grasp the white microphone handle black accents, avoid the trophy cup by 0.10m, and transfer the white microphone handle black accents to the left arm.",
+    "Lift the white microphone handle black accents with the right arm, give the white microphone handle black accents to the left arm, keep clear of the medium-sized yellow trophy 0.10m.",
+    "Take the microphone with black tip and white body using the right arm, keep away from the decorative trophy with curved handles, and pass to the left arm.",
+    "With the right arm, take the microphone with black tip and white body, keep distance from the award cup with orange highlights, and give the microphone with black tip and white body to the left arm.",
+    "Take the metal head microphone with the right arm, route it away from the golden trophy, then hand it to the left arm.",
+    "Secure the metal head microphone, route it at least 0.10m from the glossy yellow trophy with base, then hand it over.",
+    "Let the right arm grasp the microphone with textured metal head, move it 0.10m from the glossy yellow trophy with base, then the left arm receives.",
+    "With the right arm, grasp the microphone with rounded mesh head, then hand the microphone with rounded mesh head to the left arm, avoiding the two-handled prize trophy.",
+    "Grab the white microphone handle black accents, carry it around the glossy yellow trophy with base with 0.10m clearance, then hand over.",
+    "Using the right arm, grab the mesh-patterned microphone head, keep 0.10m from the glossy yellow trophy with base, then give the mesh-patterned microphone head to the left arm.",
+    "Take the microphone with black tip and white body with the right arm, hand over to the left arm, keep the microphone with black tip and white body 0.10m away from the award cup with orange highlights.",
+    "Pick up the metal head microphone using the right arm, transfer to the left arm, keep 0.10m from the smooth gold cup-shaped trophy.",
+    "Lift the mesh-patterned microphone head, keep it 0.10m away from the smooth gold cup-shaped trophy, then pass it across.",
+    "Have the right arm take the mesh-patterned microphone head, then the left arm takes the mesh-patterned microphone head, keep 0.10m from the award trophy.",
+    "Get the microphone with black tip and white body with the right arm, shift the microphone with black tip and white body to the left arm, maintaining 0.10m from the trophy cup.",
+    "Use the right arm to lift the black and white microphone, then give the black and white microphone to the left arm, avoiding the golden trophy by 0.10m.",
+    "Pick up the white microphone handle black accents with the right arm, transfer to the left arm, stay away from the shiny golden prize trophy.",
+    "Pick up the handheld microphone, move it staying 0.10m from the award trophy, then complete the handoff.",
+    "Move the compact size microphone from the right arm to the left arm while keeping clear of the golden award with orange edges.",
+    "Using the right arm, take the microphone with black tip and white body and hand to the left arm, keeping 0.10m from the golden trophy.",
+    "Have the right arm grasp the metal head microphone, avoid the award cup with orange highlights by 0.10m, and transfer the metal head microphone to the left arm.",
+    "Lift the microphone for voice recording with the right arm, give the microphone for voice recording to the left arm, keep clear of the two-handled prize trophy 0.10m.",
+    "Take the microphone with cylindrical handle using the right arm, keep away from the golden trophy, and pass to the left arm.",
+    "With the right arm, take the mesh-patterned microphone head, keep distance from the medium-sized yellow trophy, and give the mesh-patterned microphone head to the left arm.",
+    "Take the smooth plastic microphone handle with the right arm, route it away from the golden award with orange edges, then hand it to the left arm.",
+    "Secure the compact size microphone, route it at least 0.10m from the glossy yellow trophy with base, then hand it over.",
+    "Let the right arm grasp the metal head microphone, move it 0.10m from the two-handled prize trophy, then the left arm receives.",
+    "With the right arm, grasp the microphone with cylindrical handle, then hand the microphone with cylindrical handle to the left arm, avoiding the award trophy.",
+    "Grab the microphone with textured metal head, carry it around the gold cup with handles with 0.10m clearance, then hand over.",
+    "Using the right arm, grab the handheld microphone, keep 0.10m from the trophy cup, then give the handheld microphone to the left arm.",
+    "Take the microphone with cylindrical handle with the right arm, hand over to the left arm, keep the microphone with cylindrical handle 0.10m away from the award cup with orange highlights.",
+    "Pick up the black and white microphone using the right arm, transfer to the left arm, keep 0.10m from the smooth gold cup-shaped trophy.",
+    "Lift the metal head microphone, keep it 0.10m away from the award trophy, then pass it across.",
+    "Have the right arm take the microphone with rounded mesh head, then the left arm takes the microphone with rounded mesh head, keep 0.10m from the decorative trophy with curved handles.",
+    "Get the microphone with rounded mesh head with the right arm, shift the microphone with rounded mesh head to the left arm, maintaining 0.10m from the smooth gold cup-shaped trophy.",
+    "Use the right arm to lift the microphone with cylindrical handle, then give the microphone with cylindrical handle to the left arm, avoiding the award trophy by 0.10m.",
+    "Pick up the microphone with black tip and white body with the right arm, transfer to the left arm, stay away from the gold cup with handles.",
+    "Pick up the microphone with black tip and white body, move it staying 0.10m from the two-handled prize trophy, then complete the handoff.",
+    "Move the metal head microphone from the right arm to the left arm while keeping clear of the two-handled prize trophy.",
+    "Using the right arm, take the microphone with textured metal head and hand to the left arm, keeping 0.10m from the shiny golden prize trophy.",
+    "Have the right arm grasp the microphone with cylindrical handle, avoid the smooth gold cup-shaped trophy by 0.10m, and transfer the microphone with cylindrical handle to the left arm.",
+    "Lift the white microphone handle black accents with the right arm, give the white microphone handle black accents to the left arm, keep clear of the glossy yellow trophy with base 0.10m.",
+    "Take the microphone with black tip and white body using the right arm, keep away from the gold cup with handles, and pass to the left arm.",
+    "With the right arm, take the mesh-patterned microphone head, keep distance from the two-handled prize trophy, and give the mesh-patterned microphone head to the left arm.",
+    "Take the compact size microphone with the right arm, route it away from the smooth gold cup-shaped trophy, then hand it to the left arm.",
+    "Secure the handheld microphone, route it at least 0.10m from the smooth gold cup-shaped trophy, then hand it over.",
+    "Let the right arm grasp the microphone with cylindrical handle, move it 0.10m from the two-handled prize trophy, then the left arm receives.",
+    "With the right arm, grasp the mesh-patterned microphone head, then hand the mesh-patterned microphone head to the left arm, avoiding the two-handled prize trophy.",
+    "Grab the microphone for voice recording, carry it around the trophy cup with 0.10m clearance, then hand over.",
+    "Using the right arm, grab the microphone with cylindrical handle, keep 0.10m from the two-handled prize trophy, then give the microphone with cylindrical handle to the left arm.",
+    "Take the white microphone handle black accents with the right arm, hand over to the left arm, keep the white microphone handle black accents 0.10m away from the golden award with orange edges.",
+    "Pick up the handheld microphone using the right arm, transfer to the left arm, keep 0.10m from the award trophy.",
+    "Lift the microphone with textured metal head, keep it 0.10m away from the gold cup with handles, then pass it across.",
+    "Have the right arm take the compact size microphone, then the left arm takes the compact size microphone, keep 0.10m from the golden trophy.",
+    "Get the microphone with black tip and white body with the right arm, shift the microphone with black tip and white body to the left arm, maintaining 0.10m from the two-handled prize trophy.",
+    "Use the right arm to lift the compact size microphone, then give the compact size microphone to the left arm, avoiding the award cup with orange highlights by 0.10m.",
+    "Pick up the microphone with cylindrical handle with the right arm, transfer to the left arm, stay away from the glossy yellow trophy with base.",
+    "Pick up the metal head microphone, move it staying 0.10m from the trophy cup, then complete the handoff.",
+    "Move the mesh-patterned microphone head from the right arm to the left arm while keeping clear of the award trophy.",
+    "Using the right arm, take the black and white microphone and hand to the left arm, keeping 0.10m from the glossy yellow trophy with base.",
+    "Have the right arm grasp the mesh-patterned microphone head, avoid the two-handled prize trophy by 0.10m, and transfer the mesh-patterned microphone head to the left arm.",
+    "Lift the compact size microphone with the right arm, give the compact size microphone to the left arm, keep clear of the award trophy 0.10m.",
+    "Take the white microphone handle black accents using the right arm, keep away from the award trophy, and pass to the left arm.",
+    "With the right arm, take the microphone with cylindrical handle, keep distance from the award trophy, and give the microphone with cylindrical handle to the left arm."
+  ],
+  "unseen": [
+    "Grab the lightweight handheld microphone with the right arm, keep 0.10m from the golden trophy with round base, hand to the left arm.",
+    "Pick up the lightweight handheld microphone, avoid the golden trophy with round base by 0.10m, pass the lightweight handheld microphone from the right arm to the left arm.",
+    "Use the right arm to grab the black and white plastic microphone, pass to the left arm, keep the black and white plastic microphone 0.10m from the golden trophy with round base.",
+    "Use the right arm to grab the microphone used for audio input, then pass it to the left arm, avoiding the hand-sized shiny gold trophy.",
+    "With the right arm, grab the microphone used for audio input, pass to the left arm, keeping the microphone used for audio input 0.10m from the hand-sized shiny gold trophy.",
+    "Grab the lightweight handheld microphone with the right arm, hand it to the left arm, avoiding the hand-sized shiny gold trophy by 0.10m.",
+    "Grab the lightweight handheld microphone with the right arm, keep 0.10m from the yellow cup with round stand, hand to the left arm.",
+    "Pick up the lightweight handheld microphone, avoid the golden trophy with round base by 0.10m, pass the lightweight handheld microphone from the right arm to the left arm.",
+    "Use the right arm to grab the microphone used for audio input, pass to the left arm, keep the microphone used for audio input 0.10m from the hand-sized shiny gold trophy.",
+    "Use the right arm to grab the black and white plastic microphone, then pass it to the left arm, avoiding the yellow cup with round stand.",
+    "With the right arm, grab the microphone used for audio input, pass to the left arm, keeping the microphone used for audio input 0.10m from the golden trophy with round base.",
+    "Grab the lightweight handheld microphone with the right arm, hand it to the left arm, avoiding the hand-sized shiny gold trophy by 0.10m.",
+    "Grab the black and white plastic microphone with the right arm, keep 0.10m from the golden trophy with round base, hand to the left arm.",
+    "Pick up the black and white plastic microphone, avoid the golden trophy with round base by 0.10m, pass the black and white plastic microphone from the right arm to the left arm.",
+    "Use the right arm to grab the lightweight handheld microphone, pass to the left arm, keep the lightweight handheld microphone 0.10m from the hand-sized shiny gold trophy.",
+    "Use the right arm to grab the lightweight handheld microphone, then pass it to the left arm, avoiding the golden trophy with round base.",
+    "With the right arm, grab the microphone used for audio input, pass to the left arm, keeping the microphone used for audio input 0.10m from the yellow cup with round stand.",
+    "Grab the microphone used for audio input with the right arm, hand it to the left arm, avoiding the yellow cup with round stand by 0.10m.",
+    "Grab the lightweight handheld microphone with the right arm, keep 0.10m from the golden trophy with round base, hand to the left arm.",
+    "Pick up the lightweight handheld microphone, avoid the yellow cup with round stand by 0.10m, pass the lightweight handheld microphone from the right arm to the left arm.",
+    "Use the right arm to grab the lightweight handheld microphone, pass to the left arm, keep the lightweight handheld microphone 0.10m from the hand-sized shiny gold trophy.",
+    "Use the right arm to grab the microphone used for audio input, then pass it to the left arm, avoiding the golden trophy with round base.",
+    "With the right arm, grab the lightweight handheld microphone, pass to the left arm, keeping the lightweight handheld microphone 0.10m from the hand-sized shiny gold trophy.",
+    "Grab the black and white plastic microphone with the right arm, hand it to the left arm, avoiding the golden trophy with round base by 0.10m.",
+    "Grab the microphone used for audio input with the right arm, keep 0.10m from the hand-sized shiny gold trophy, hand to the left arm.",
+    "Pick up the lightweight handheld microphone, avoid the yellow cup with round stand by 0.10m, pass the lightweight handheld microphone from the right arm to the left arm.",
+    "Use the right arm to grab the black and white plastic microphone, pass to the left arm, keep the black and white plastic microphone 0.10m from the hand-sized shiny gold trophy.",
+    "Use the right arm to grab the black and white plastic microphone, then pass it to the left arm, avoiding the yellow cup with round stand.",
+    "With the right arm, grab the lightweight handheld microphone, pass to the left arm, keeping the lightweight handheld microphone 0.10m from the hand-sized shiny gold trophy.",
+    "Grab the black and white plastic microphone with the right arm, hand it to the left arm, avoiding the golden trophy with round base by 0.10m.",
+    "Grab the microphone used for audio input with the right arm, keep 0.10m from the yellow cup with round stand, hand to the left arm.",
+    "Pick up the lightweight handheld microphone, avoid the yellow cup with round stand by 0.10m, pass the lightweight handheld microphone from the right arm to the left arm.",
+    "Use the right arm to grab the microphone used for audio input, pass to the left arm, keep the microphone used for audio input 0.10m from the hand-sized shiny gold trophy.",
+    "Use the right arm to grab the black and white plastic microphone, then pass it to the left arm, avoiding the yellow cup with round stand.",
+    "With the right arm, grab the microphone used for audio input, pass to the left arm, keeping the microphone used for audio input 0.10m from the hand-sized shiny gold trophy.",
+    "Grab the microphone used for audio input with the right arm, hand it to the left arm, avoiding the hand-sized shiny gold trophy by 0.10m.",
+    "Grab the microphone used for audio input with the right arm, keep 0.10m from the golden trophy with round base, hand to the left arm.",
+    "Pick up the lightweight handheld microphone, avoid the yellow cup with round stand by 0.10m, pass the lightweight handheld microphone from the right arm to the left arm.",
+    "Use the right arm to grab the microphone used for audio input, pass to the left arm, keep the microphone used for audio input 0.10m from the yellow cup with round stand.",
+    "Use the right arm to grab the lightweight handheld microphone, then pass it to the left arm, avoiding the hand-sized shiny gold trophy.",
+    "With the right arm, grab the black and white plastic microphone, pass to the left arm, keeping the black and white plastic microphone 0.10m from the golden trophy with round base.",
+    "Grab the microphone used for audio input with the right arm, hand it to the left arm, avoiding the golden trophy with round base by 0.10m.",
+    "Grab the microphone used for audio input with the right arm, keep 0.10m from the golden trophy with round base, hand to the left arm.",
+    "Pick up the lightweight handheld microphone, avoid the hand-sized shiny gold trophy by 0.10m, pass the lightweight handheld microphone from the right arm to the left arm.",
+    "Use the right arm to grab the microphone used for audio input, pass to the left arm, keep the microphone used for audio input 0.10m from the hand-sized shiny gold trophy.",
+    "Use the right arm to grab the microphone used for audio input, then pass it to the left arm, avoiding the golden trophy with round base.",
+    "With the right arm, grab the black and white plastic microphone, pass to the left arm, keeping the black and white plastic microphone 0.10m from the hand-sized shiny gold trophy.",
+    "Grab the microphone used for audio input with the right arm, hand it to the left arm, avoiding the golden trophy with round base by 0.10m.",
+    "Grab the microphone used for audio input with the right arm, keep 0.10m from the yellow cup with round stand, hand to the left arm.",
+    "Pick up the microphone used for audio input, avoid the golden trophy with round base by 0.10m, pass the microphone used for audio input from the right arm to the left arm.",
+    "Use the right arm to grab the black and white plastic microphone, pass to the left arm, keep the black and white plastic microphone 0.10m from the hand-sized shiny gold trophy.",
+    "Use the right arm to grab the lightweight handheld microphone, then pass it to the left arm, avoiding the hand-sized shiny gold trophy.",
+    "With the right arm, grab the lightweight handheld microphone, pass to the left arm, keeping the lightweight handheld microphone 0.10m from the yellow cup with round stand.",
+    "Grab the microphone used for audio input with the right arm, hand it to the left arm, avoiding the golden trophy with round base by 0.10m.",
+    "Grab the microphone used for audio input with the right arm, keep 0.10m from the golden trophy with round base, hand to the left arm.",
+    "Pick up the black and white plastic microphone, avoid the golden trophy with round base by 0.10m, pass the black and white plastic microphone from the right arm to the left arm.",
+    "Use the right arm to grab the black and white plastic microphone, pass to the left arm, keep the black and white plastic microphone 0.10m from the yellow cup with round stand.",
+    "Use the right arm to grab the lightweight handheld microphone, then pass it to the left arm, avoiding the golden trophy with round base.",
+    "With the right arm, grab the microphone used for audio input, pass to the left arm, keeping the microphone used for audio input 0.10m from the yellow cup with round stand.",
+    "Grab the black and white plastic microphone with the right arm, hand it to the left arm, avoiding the golden trophy with round base by 0.10m.",
+    "Grab the lightweight handheld microphone with the right arm, keep 0.10m from the golden trophy with round base, hand to the left arm.",
+    "Pick up the microphone used for audio input, avoid the yellow cup with round stand by 0.10m, pass the microphone used for audio input from the right arm to the left arm.",
+    "Use the right arm to grab the lightweight handheld microphone, pass to the left arm, keep the lightweight handheld microphone 0.10m from the yellow cup with round stand.",
+    "Use the right arm to grab the lightweight handheld microphone, then pass it to the left arm, avoiding the golden trophy with round base.",
+    "With the right arm, grab the lightweight handheld microphone, pass to the left arm, keeping the lightweight handheld microphone 0.10m from the hand-sized shiny gold trophy.",
+    "Grab the lightweight handheld microphone with the right arm, hand it to the left arm, avoiding the hand-sized shiny gold trophy by 0.10m.",
+    "Grab the black and white plastic microphone with the right arm, keep 0.10m from the golden trophy with round base, hand to the left arm.",
+    "Pick up the microphone used for audio input, avoid the yellow cup with round stand by 0.10m, pass the microphone used for audio input from the right arm to the left arm.",
+    "Use the right arm to grab the microphone used for audio input, pass to the left arm, keep the microphone used for audio input 0.10m from the yellow cup with round stand.",
+    "Use the right arm to grab the microphone used for audio input, then pass it to the left arm, avoiding the hand-sized shiny gold trophy.",
+    "With the right arm, grab the lightweight handheld microphone, pass to the left arm, keeping the lightweight handheld microphone 0.10m from the hand-sized shiny gold trophy.",
+    "Grab the microphone used for audio input with the right arm, hand it to the left arm, avoiding the hand-sized shiny gold trophy by 0.10m.",
+    "Grab the lightweight handheld microphone with the right arm, keep 0.10m from the yellow cup with round stand, hand to the left arm.",
+    "Pick up the microphone used for audio input, avoid the yellow cup with round stand by 0.10m, pass the microphone used for audio input from the right arm to the left arm.",
+    "Use the right arm to grab the lightweight handheld microphone, pass to the left arm, keep the lightweight handheld microphone 0.10m from the golden trophy with round base.",
+    "Use the right arm to grab the microphone used for audio input, then pass it to the left arm, avoiding the golden trophy with round base.",
+    "With the right arm, grab the black and white plastic microphone, pass to the left arm, keeping the black and white plastic microphone 0.10m from the hand-sized shiny gold trophy.",
+    "Grab the microphone used for audio input with the right arm, hand it to the left arm, avoiding the golden trophy with round base by 0.10m.",
+    "Grab the microphone used for audio input with the right arm, keep 0.10m from the hand-sized shiny gold trophy, hand to the left arm.",
+    "Pick up the lightweight handheld microphone, avoid the hand-sized shiny gold trophy by 0.10m, pass the lightweight handheld microphone from the right arm to the left arm.",
+    "Use the right arm to grab the lightweight handheld microphone, pass to the left arm, keep the lightweight handheld microphone 0.10m from the yellow cup with round stand.",
+    "Use the right arm to grab the black and white plastic microphone, then pass it to the left arm, avoiding the golden trophy with round base.",
+    "With the right arm, grab the lightweight handheld microphone, pass to the left arm, keeping the lightweight handheld microphone 0.10m from the golden trophy with round base.",
+    "Grab the microphone used for audio input with the right arm, hand it to the left arm, avoiding the yellow cup with round stand by 0.10m.",
+    "Grab the black and white plastic microphone with the right arm, keep 0.10m from the hand-sized shiny gold trophy, hand to the left arm.",
+    "Pick up the microphone used for audio input, avoid the golden trophy with round base by 0.10m, pass the microphone used for audio input from the right arm to the left arm.",
+    "Use the right arm to grab the microphone used for audio input, pass to the left arm, keep the microphone used for audio input 0.10m from the hand-sized shiny gold trophy.",
+    "Use the right arm to grab the black and white plastic microphone, then pass it to the left arm, avoiding the golden trophy with round base.",
+    "With the right arm, grab the lightweight handheld microphone, pass to the left arm, keeping the lightweight handheld microphone 0.10m from the yellow cup with round stand.",
+    "Grab the black and white plastic microphone with the right arm, hand it to the left arm, avoiding the yellow cup with round stand by 0.10m.",
+    "Grab the microphone used for audio input with the right arm, keep 0.10m from the hand-sized shiny gold trophy, hand to the left arm.",
+    "Pick up the black and white plastic microphone, avoid the hand-sized shiny gold trophy by 0.10m, pass the black and white plastic microphone from the right arm to the left arm.",
+    "Use the right arm to grab the lightweight handheld microphone, pass to the left arm, keep the lightweight handheld microphone 0.10m from the hand-sized shiny gold trophy.",
+    "Use the right arm to grab the black and white plastic microphone, then pass it to the left arm, avoiding the hand-sized shiny gold trophy.",
+    "With the right arm, grab the microphone used for audio input, pass to the left arm, keeping the microphone used for audio input 0.10m from the hand-sized shiny gold trophy.",
+    "Grab the black and white plastic microphone with the right arm, hand it to the left arm, avoiding the yellow cup with round stand by 0.10m.",
+    "Grab the black and white plastic microphone with the right arm, keep 0.10m from the golden trophy with round base, hand to the left arm.",
+    "Pick up the microphone used for audio input, avoid the yellow cup with round stand by 0.10m, pass the microphone used for audio input from the right arm to the left arm.",
+    "Use the right arm to grab the black and white plastic microphone, pass to the left arm, keep the black and white plastic microphone 0.10m from the hand-sized shiny gold trophy.",
+    "Use the right arm to grab the microphone used for audio input, then pass it to the left arm, avoiding the yellow cup with round stand."
+  ]
+}
\ No newline at end of file
diff --git a/handover_mic_wp1/handover_mic_wp1/instructions/episode40.json b/handover_mic_wp1/handover_mic_wp1/instructions/episode40.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ba2c557820e9360b36f8871f9aa834b15098358
--- /dev/null
+++ b/handover_mic_wp1/handover_mic_wp1/instructions/episode40.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to lift the microphone with slider switch, then give the microphone with slider switch to the left arm, avoiding the gold award cup with two handles by 0.10m.",
+    "Take the white bottom microphone with textured tip with the right arm, hand over to the left arm, keep the white bottom microphone with textured tip 0.10m away from the golden award trophy with black base.",
+    "Get the white bottom microphone with textured tip with the right arm, shift the white bottom microphone with textured tip to the left arm, maintaining 0.10m from the cup-shaped trophy with handles.",
+    "Pick up the compact teal and white microphone with the right arm, transfer to the left arm, stay away from the medium trophy with gold and black colors.",
+    "Lift the plastic teal microphone with slider, keep it 0.10m away from the gold trophy on square black base, then pass it across.",
+    "Using the right arm, take the compact teal and white microphone and hand to the left arm, keeping 0.10m from the gold award cup with two handles.",
+    "Move the plastic teal microphone with slider from the right arm to the left arm while keeping clear of the shiny trophy with top knob.",
+    "Take the rounded white tip microphone using the right arm, keep away from the trophy cup with curved sides, and pass to the left arm.",
+    "Grab the textured white microphone head, carry it around the gold trophy with 0.10m clearance, then hand over.",
+    "With the right arm, take the rounded white tip microphone, keep distance from the golden award trophy with black base, and give the rounded white tip microphone to the left arm.",
+    "Pick up the sound microphone with teal body, move it staying 0.10m from the cup-shaped trophy with handles, then complete the handoff.",
+    "Pick up the microphone with white rounded head using the right arm, transfer to the left arm, keep 0.10m from the trophy cup with curved sides.",
+    "Take the white bottom microphone with textured tip with the right arm, route it away from the gold trophy on square black base, then hand it to the left arm.",
+    "With the right arm, grasp the textured white microphone head, then hand the textured white microphone head to the left arm, avoiding the shiny trophy with top knob.",
+    "Let the right arm grasp the sound microphone with teal body, move it 0.10m from the gold trophy on square black base, then the left arm receives.",
+    "Have the right arm take the microphone with slider switch, then the left arm takes the microphone with slider switch, keep 0.10m from the golden award trophy with black base.",
+    "Lift the white bottom microphone with textured tip with the right arm, give the white bottom microphone with textured tip to the left arm, keep clear of the trophy with dangling ribbons 0.10m.",
+    "Secure the white and teal sound microphone, route it at least 0.10m from the gold award cup with two handles, then hand it over.",
+    "Using the right arm, grab the white bottom microphone with textured tip, keep 0.10m from the golden award trophy with black base, then give the white bottom microphone with textured tip to the left arm.",
+    "Have the right arm grasp the teal microphone, avoid the medium trophy with gold and black colors by 0.10m, and transfer the teal microphone to the left arm.",
+    "Use the right arm to lift the microphone with slider switch, then give the microphone with slider switch to the left arm, avoiding the medium trophy with gold and black colors by 0.10m.",
+    "Take the plastic teal microphone with slider with the right arm, hand over to the left arm, keep the plastic teal microphone with slider 0.10m away from the golden award trophy with black base.",
+    "Get the microphone with slider switch with the right arm, shift the microphone with slider switch to the left arm, maintaining 0.10m from the gold trophy on square black base.",
+    "Pick up the handheld teal microphone with the right arm, transfer to the left arm, stay away from the black bottom trophy with smooth finish.",
+    "Lift the handheld teal microphone, keep it 0.10m away from the medium trophy with gold and black colors, then pass it across.",
+    "Using the right arm, take the teal microphone and hand to the left arm, keeping 0.10m from the shiny trophy with top knob.",
+    "Move the teal microphone from the right arm to the left arm while keeping clear of the cup-shaped trophy with handles.",
+    "Take the plastic teal microphone with slider using the right arm, keep away from the trophy cup with curved sides, and pass to the left arm.",
+    "Grab the compact teal and white microphone, carry it around the gold award cup with two handles with 0.10m clearance, then hand over.",
+    "With the right arm, take the textured white microphone head, keep distance from the black bottom trophy with smooth finish, and give the textured white microphone head to the left arm.",
+    "Pick up the microphone with white rounded head, move it staying 0.10m from the medium trophy with gold and black colors, then complete the handoff.",
+    "Pick up the teal microphone using the right arm, transfer to the left arm, keep 0.10m from the gold award cup with two handles.",
+    "Take the white and teal sound microphone with the right arm, route it away from the gold trophy on square black base, then hand it to the left arm.",
+    "With the right arm, grasp the textured white microphone head, then hand the textured white microphone head to the left arm, avoiding the gold trophy on square black base.",
+    "Let the right arm grasp the plastic teal microphone with slider, move it 0.10m from the gold trophy, then the left arm receives.",
+    "Have the right arm take the teal microphone, then the left arm takes the teal microphone, keep 0.10m from the golden award trophy with black base.",
+    "Lift the long microphone with smooth teal grip with the right arm, give the long microphone with smooth teal grip to the left arm, keep clear of the gold award cup with two handles 0.10m.",
+    "Secure the handheld teal microphone, route it at least 0.10m from the gold trophy, then hand it over.",
+    "Using the right arm, grab the handheld teal microphone, keep 0.10m from the decorative trophy with curved handles, then give the handheld teal microphone to the left arm.",
+    "Have the right arm grasp the rounded white tip microphone, avoid the golden award trophy with black base by 0.10m, and transfer the rounded white tip microphone to the left arm.",
+    "Use the right arm to lift the rounded white tip microphone, then give the rounded white tip microphone to the left arm, avoiding the gold trophy by 0.10m.",
+    "Take the textured white microphone head with the right arm, hand over to the left arm, keep the textured white microphone head 0.10m away from the trophy with dangling ribbons.",
+    "Get the sound microphone with teal body with the right arm, shift the sound microphone with teal body to the left arm, maintaining 0.10m from the gold trophy on square black base.",
+    "Pick up the teal microphone with the right arm, transfer to the left arm, stay away from the gold trophy.",
+    "Lift the long microphone with smooth teal grip, keep it 0.10m away from the golden award trophy with black base, then pass it across.",
+    "Using the right arm, take the white bottom microphone with textured tip and hand to the left arm, keeping 0.10m from the shiny trophy with top knob.",
+    "Move the plastic teal microphone with slider from the right arm to the left arm while keeping clear of the black bottom trophy with smooth finish.",
+    "Take the long microphone with smooth teal grip using the right arm, keep away from the medium trophy with gold and black colors, and pass to the left arm.",
+    "Grab the rounded white tip microphone, carry it around the gold trophy on square black base with 0.10m clearance, then hand over.",
+    "With the right arm, take the plastic teal microphone with slider, keep distance from the medium trophy with gold and black colors, and give the plastic teal microphone with slider to the left arm.",
+    "Pick up the microphone with slider switch, move it staying 0.10m from the shiny trophy with top knob, then complete the handoff.",
+    "Pick up the microphone with slider switch using the right arm, transfer to the left arm, keep 0.10m from the golden award trophy with black base.",
+    "Take the teal microphone with the right arm, route it away from the gold trophy, then hand it to the left arm.",
+    "With the right arm, grasp the white and teal sound microphone, then hand the white and teal sound microphone to the left arm, avoiding the black bottom trophy with smooth finish.",
+    "Let the right arm grasp the microphone with slider switch, move it 0.10m from the gold trophy on square black base, then the left arm receives.",
+    "Have the right arm take the rounded white tip microphone, then the left arm takes the rounded white tip microphone, keep 0.10m from the gold award cup with two handles.",
+    "Lift the white and teal sound microphone with the right arm, give the white and teal sound microphone to the left arm, keep clear of the golden award trophy with black base 0.10m.",
+    "Secure the microphone with slider switch, route it at least 0.10m from the trophy cup with curved sides, then hand it over.",
+    "Using the right arm, grab the white bottom microphone with textured tip, keep 0.10m from the gold trophy on square black base, then give the white bottom microphone with textured tip to the left arm.",
+    "Have the right arm grasp the compact teal and white microphone, avoid the cup-shaped trophy with handles by 0.10m, and transfer the compact teal and white microphone to the left arm.",
+    "Use the right arm to lift the rounded white tip microphone, then give the rounded white tip microphone to the left arm, avoiding the shiny trophy with top knob by 0.10m.",
+    "Take the teal microphone with the right arm, hand over to the left arm, keep the teal microphone 0.10m away from the gold award cup with two handles.",
+    "Get the rounded white tip microphone with the right arm, shift the rounded white tip microphone to the left arm, maintaining 0.10m from the gold trophy.",
+    "Pick up the microphone with white rounded head with the right arm, transfer to the left arm, stay away from the golden award trophy with black base.",
+    "Lift the white and teal sound microphone, keep it 0.10m away from the gold trophy, then pass it across.",
+    "Using the right arm, take the plastic teal microphone with slider and hand to the left arm, keeping 0.10m from the gold trophy on square black base.",
+    "Move the sound microphone with teal body from the right arm to the left arm while keeping clear of the medium trophy with gold and black colors.",
+    "Take the textured white microphone head using the right arm, keep away from the black bottom trophy with smooth finish, and pass to the left arm.",
+    "Grab the compact teal and white microphone, carry it around the medium-sized golden trophy with 0.10m clearance, then hand over.",
+    "With the right arm, take the microphone with white rounded head, keep distance from the shiny trophy with top knob, and give the microphone with white rounded head to the left arm.",
+    "Pick up the microphone with slider switch, move it staying 0.10m from the trophy with dangling ribbons, then complete the handoff.",
+    "Pick up the white bottom microphone with textured tip using the right arm, transfer to the left arm, keep 0.10m from the decorative trophy with curved handles.",
+    "Take the microphone with white rounded head with the right arm, route it away from the shiny trophy with top knob, then hand it to the left arm.",
+    "With the right arm, grasp the rounded white tip microphone, then hand the rounded white tip microphone to the left arm, avoiding the decorative trophy with curved handles.",
+    "Let the right arm grasp the white and teal sound microphone, move it 0.10m from the black bottom trophy with smooth finish, then the left arm receives.",
+    "Have the right arm take the long microphone with smooth teal grip, then the left arm takes the long microphone with smooth teal grip, keep 0.10m from the black bottom trophy with smooth finish.",
+    "Lift the microphone with slider switch with the right arm, give the microphone with slider switch to the left arm, keep clear of the medium trophy with gold and black colors 0.10m.",
+    "Secure the microphone with white rounded head, route it at least 0.10m from the gold trophy, then hand it over.",
+    "Using the right arm, grab the teal microphone, keep 0.10m from the cup-shaped trophy with handles, then give the teal microphone to the left arm.",
+    "Have the right arm grasp the microphone with slider switch, avoid the gold trophy by 0.10m, and transfer the microphone with slider switch to the left arm.",
+    "Use the right arm to lift the teal microphone, then give the teal microphone to the left arm, avoiding the medium trophy with gold and black colors by 0.10m.",
+    "Take the handheld teal microphone with the right arm, hand over to the left arm, keep the handheld teal microphone 0.10m away from the golden award trophy with black base.",
+    "Get the microphone with white rounded head with the right arm, shift the microphone with white rounded head to the left arm, maintaining 0.10m from the trophy with dangling ribbons.",
+    "Pick up the compact teal and white microphone with the right arm, transfer to the left arm, stay away from the black bottom trophy with smooth finish.",
+    "Lift the white bottom microphone with textured tip, keep it 0.10m away from the gold trophy, then pass it across.",
+    "Using the right arm, take the long microphone with smooth teal grip and hand to the left arm, keeping 0.10m from the trophy cup with curved sides.",
+    "Move the textured white microphone head from the right arm to the left arm while keeping clear of the cup-shaped trophy with handles.",
+    "Take the sound microphone with teal body using the right arm, keep away from the gold award cup with two handles, and pass to the left arm.",
+    "Grab the white and teal sound microphone, carry it around the decorative trophy with curved handles with 0.10m clearance, then hand over.",
+    "With the right arm, take the microphone with white rounded head, keep distance from the gold award cup with two handles, and give the microphone with white rounded head to the left arm.",
+    "Pick up the sound microphone with teal body, move it staying 0.10m from the decorative trophy with curved handles, then complete the handoff.",
+    "Pick up the handheld teal microphone using the right arm, transfer to the left arm, keep 0.10m from the medium-sized golden trophy.",
+    "Take the handheld teal microphone with the right arm, route it away from the trophy with dangling ribbons, then hand it to the left arm.",
+    "With the right arm, grasp the white and teal sound microphone, then hand the white and teal sound microphone to the left arm, avoiding the shiny trophy with top knob.",
+    "Let the right arm grasp the sound microphone with teal body, move it 0.10m from the decorative trophy with curved handles, then the left arm receives.",
+    "Have the right arm take the microphone with white rounded head, then the left arm takes the microphone with white rounded head, keep 0.10m from the gold trophy.",
+    "Lift the compact teal and white microphone with the right arm, give the compact teal and white microphone to the left arm, keep clear of the gold award cup with two handles 0.10m.",
+    "Secure the microphone with slider switch, route it at least 0.10m from the gold award cup with two handles, then hand it over.",
+    "Using the right arm, grab the long microphone with smooth teal grip, keep 0.10m from the golden award trophy with black base, then give the long microphone with smooth teal grip to the left arm.",
+    "Have the right arm grasp the handheld teal microphone, avoid the shiny trophy with top knob by 0.10m, and transfer the handheld teal microphone to the left arm."
+  ],
+  "unseen": [
+    "With the right arm, grab the long teal microphone with white grooves, pass to the left arm, keeping the long teal microphone with white grooves 0.10m from the smooth golden trophy.",
+    "Grab the teal microphone with white bottom with the right arm, hand it to the left arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "Grab the teal microphone with white bottom with the right arm, keep 0.10m from the smooth golden trophy, hand to the left arm.",
+    "Use the right arm to grab the long teal microphone with white grooves, then pass it to the left arm, avoiding the smooth golden trophy.",
+    "Use the right arm to grab the teal microphone with white bottom, pass to the left arm, keep the teal microphone with white bottom 0.10m from the smooth golden trophy.",
+    "Pick up the long teal microphone with white grooves, avoid the trophy with red and blue ribbons by 0.10m, pass the long teal microphone with white grooves from the right arm to the left arm.",
+    "With the right arm, grab the teal microphone with white bottom, pass to the left arm, keeping the teal microphone with white bottom 0.10m from the trophy with red and blue ribbons.",
+    "Grab the long teal microphone with white grooves with the right arm, hand it to the left arm, avoiding the shiny trophy cup by 0.10m.",
+    "Grab the long teal microphone with white grooves with the right arm, keep 0.10m from the shiny trophy cup, hand to the left arm.",
+    "Use the right arm to grab the long teal microphone with white grooves, then pass it to the left arm, avoiding the smooth golden trophy.",
+    "Use the right arm to grab the teal microphone with white bottom, pass to the left arm, keep the teal microphone with white bottom 0.10m from the shiny trophy cup.",
+    "Pick up the switchable microphone with teal body, avoid the shiny trophy cup by 0.10m, pass the switchable microphone with teal body from the right arm to the left arm.",
+    "With the right arm, grab the long teal microphone with white grooves, pass to the left arm, keeping the long teal microphone with white grooves 0.10m from the shiny trophy cup.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "Grab the long teal microphone with white grooves with the right arm, keep 0.10m from the trophy with red and blue ribbons, hand to the left arm.",
+    "Use the right arm to grab the switchable microphone with teal body, then pass it to the left arm, avoiding the trophy with red and blue ribbons.",
+    "Use the right arm to grab the long teal microphone with white grooves, pass to the left arm, keep the long teal microphone with white grooves 0.10m from the smooth golden trophy.",
+    "Pick up the switchable microphone with teal body, avoid the trophy with red and blue ribbons by 0.10m, pass the switchable microphone with teal body from the right arm to the left arm.",
+    "With the right arm, grab the teal microphone with white bottom, pass to the left arm, keeping the teal microphone with white bottom 0.10m from the trophy with red and blue ribbons.",
+    "Grab the teal microphone with white bottom with the right arm, hand it to the left arm, avoiding the smooth golden trophy by 0.10m.",
+    "Grab the switchable microphone with teal body with the right arm, keep 0.10m from the trophy with red and blue ribbons, hand to the left arm.",
+    "Use the right arm to grab the long teal microphone with white grooves, then pass it to the left arm, avoiding the smooth golden trophy.",
+    "Use the right arm to grab the switchable microphone with teal body, pass to the left arm, keep the switchable microphone with teal body 0.10m from the shiny trophy cup.",
+    "Pick up the long teal microphone with white grooves, avoid the smooth golden trophy by 0.10m, pass the long teal microphone with white grooves from the right arm to the left arm.",
+    "With the right arm, grab the long teal microphone with white grooves, pass to the left arm, keeping the long teal microphone with white grooves 0.10m from the trophy with red and blue ribbons.",
+    "Grab the teal microphone with white bottom with the right arm, hand it to the left arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "Grab the switchable microphone with teal body with the right arm, keep 0.10m from the shiny trophy cup, hand to the left arm.",
+    "Use the right arm to grab the switchable microphone with teal body, then pass it to the left arm, avoiding the smooth golden trophy.",
+    "Use the right arm to grab the long teal microphone with white grooves, pass to the left arm, keep the long teal microphone with white grooves 0.10m from the shiny trophy cup.",
+    "Pick up the teal microphone with white bottom, avoid the smooth golden trophy by 0.10m, pass the teal microphone with white bottom from the right arm to the left arm.",
+    "With the right arm, grab the long teal microphone with white grooves, pass to the left arm, keeping the long teal microphone with white grooves 0.10m from the smooth golden trophy.",
+    "Grab the long teal microphone with white grooves with the right arm, hand it to the left arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "Grab the long teal microphone with white grooves with the right arm, keep 0.10m from the shiny trophy cup, hand to the left arm.",
+    "Use the right arm to grab the teal microphone with white bottom, then pass it to the left arm, avoiding the shiny trophy cup.",
+    "Use the right arm to grab the teal microphone with white bottom, pass to the left arm, keep the teal microphone with white bottom 0.10m from the shiny trophy cup.",
+    "Pick up the long teal microphone with white grooves, avoid the shiny trophy cup by 0.10m, pass the long teal microphone with white grooves from the right arm to the left arm.",
+    "With the right arm, grab the teal microphone with white bottom, pass to the left arm, keeping the teal microphone with white bottom 0.10m from the shiny trophy cup.",
+    "Grab the teal microphone with white bottom with the right arm, hand it to the left arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "Grab the teal microphone with white bottom with the right arm, keep 0.10m from the shiny trophy cup, hand to the left arm.",
+    "Use the right arm to grab the long teal microphone with white grooves, then pass it to the left arm, avoiding the trophy with red and blue ribbons.",
+    "Use the right arm to grab the long teal microphone with white grooves, pass to the left arm, keep the long teal microphone with white grooves 0.10m from the smooth golden trophy.",
+    "Pick up the teal microphone with white bottom, avoid the smooth golden trophy by 0.10m, pass the teal microphone with white bottom from the right arm to the left arm.",
+    "With the right arm, grab the teal microphone with white bottom, pass to the left arm, keeping the teal microphone with white bottom 0.10m from the shiny trophy cup.",
+    "Grab the teal microphone with white bottom with the right arm, hand it to the left arm, avoiding the smooth golden trophy by 0.10m.",
+    "Grab the long teal microphone with white grooves with the right arm, keep 0.10m from the shiny trophy cup, hand to the left arm.",
+    "Use the right arm to grab the long teal microphone with white grooves, then pass it to the left arm, avoiding the trophy with red and blue ribbons.",
+    "Use the right arm to grab the long teal microphone with white grooves, pass to the left arm, keep the long teal microphone with white grooves 0.10m from the smooth golden trophy.",
+    "Pick up the teal microphone with white bottom, avoid the smooth golden trophy by 0.10m, pass the teal microphone with white bottom from the right arm to the left arm.",
+    "With the right arm, grab the switchable microphone with teal body, pass to the left arm, keeping the switchable microphone with teal body 0.10m from the shiny trophy cup.",
+    "Grab the long teal microphone with white grooves with the right arm, hand it to the left arm, avoiding the shiny trophy cup by 0.10m.",
+    "Grab the teal microphone with white bottom with the right arm, keep 0.10m from the shiny trophy cup, hand to the left arm.",
+    "Use the right arm to grab the switchable microphone with teal body, then pass it to the left arm, avoiding the shiny trophy cup.",
+    "Use the right arm to grab the long teal microphone with white grooves, pass to the left arm, keep the long teal microphone with white grooves 0.10m from the shiny trophy cup.",
+    "Pick up the long teal microphone with white grooves, avoid the trophy with red and blue ribbons by 0.10m, pass the long teal microphone with white grooves from the right arm to the left arm.",
+    "With the right arm, grab the long teal microphone with white grooves, pass to the left arm, keeping the long teal microphone with white grooves 0.10m from the trophy with red and blue ribbons.",
+    "Grab the teal microphone with white bottom with the right arm, hand it to the left arm, avoiding the shiny trophy cup by 0.10m.",
+    "Grab the switchable microphone with teal body with the right arm, keep 0.10m from the trophy with red and blue ribbons, hand to the left arm.",
+    "Use the right arm to grab the teal microphone with white bottom, then pass it to the left arm, avoiding the trophy with red and blue ribbons.",
+    "Use the right arm to grab the switchable microphone with teal body, pass to the left arm, keep the switchable microphone with teal body 0.10m from the smooth golden trophy.",
+    "Pick up the switchable microphone with teal body, avoid the smooth golden trophy by 0.10m, pass the switchable microphone with teal body from the right arm to the left arm.",
+    "With the right arm, grab the teal microphone with white bottom, pass to the left arm, keeping the teal microphone with white bottom 0.10m from the shiny trophy cup.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the smooth golden trophy by 0.10m.",
+    "Grab the switchable microphone with teal body with the right arm, keep 0.10m from the shiny trophy cup, hand to the left arm.",
+    "Use the right arm to grab the teal microphone with white bottom, then pass it to the left arm, avoiding the trophy with red and blue ribbons.",
+    "Use the right arm to grab the switchable microphone with teal body, pass to the left arm, keep the switchable microphone with teal body 0.10m from the shiny trophy cup.",
+    "Pick up the switchable microphone with teal body, avoid the shiny trophy cup by 0.10m, pass the switchable microphone with teal body from the right arm to the left arm.",
+    "With the right arm, grab the switchable microphone with teal body, pass to the left arm, keeping the switchable microphone with teal body 0.10m from the smooth golden trophy.",
+    "Grab the long teal microphone with white grooves with the right arm, hand it to the left arm, avoiding the shiny trophy cup by 0.10m.",
+    "Grab the long teal microphone with white grooves with the right arm, keep 0.10m from the trophy with red and blue ribbons, hand to the left arm.",
+    "Use the right arm to grab the long teal microphone with white grooves, then pass it to the left arm, avoiding the smooth golden trophy.",
+    "Use the right arm to grab the long teal microphone with white grooves, pass to the left arm, keep the long teal microphone with white grooves 0.10m from the smooth golden trophy.",
+    "Pick up the teal microphone with white bottom, avoid the smooth golden trophy by 0.10m, pass the teal microphone with white bottom from the right arm to the left arm.",
+    "With the right arm, grab the switchable microphone with teal body, pass to the left arm, keeping the switchable microphone with teal body 0.10m from the smooth golden trophy.",
+    "Grab the teal microphone with white bottom with the right arm, hand it to the left arm, avoiding the shiny trophy cup by 0.10m.",
+    "Grab the long teal microphone with white grooves with the right arm, keep 0.10m from the trophy with red and blue ribbons, hand to the left arm.",
+    "Use the right arm to grab the teal microphone with white bottom, then pass it to the left arm, avoiding the smooth golden trophy.",
+    "Use the right arm to grab the switchable microphone with teal body, pass to the left arm, keep the switchable microphone with teal body 0.10m from the smooth golden trophy.",
+    "Pick up the long teal microphone with white grooves, avoid the smooth golden trophy by 0.10m, pass the long teal microphone with white grooves from the right arm to the left arm.",
+    "With the right arm, grab the switchable microphone with teal body, pass to the left arm, keeping the switchable microphone with teal body 0.10m from the shiny trophy cup.",
+    "Grab the teal microphone with white bottom with the right arm, hand it to the left arm, avoiding the smooth golden trophy by 0.10m.",
+    "Grab the teal microphone with white bottom with the right arm, keep 0.10m from the shiny trophy cup, hand to the left arm.",
+    "Use the right arm to grab the teal microphone with white bottom, then pass it to the left arm, avoiding the trophy with red and blue ribbons.",
+    "Use the right arm to grab the long teal microphone with white grooves, pass to the left arm, keep the long teal microphone with white grooves 0.10m from the shiny trophy cup.",
+    "Pick up the switchable microphone with teal body, avoid the shiny trophy cup by 0.10m, pass the switchable microphone with teal body from the right arm to the left arm.",
+    "With the right arm, grab the switchable microphone with teal body, pass to the left arm, keeping the switchable microphone with teal body 0.10m from the shiny trophy cup.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "Grab the switchable microphone with teal body with the right arm, keep 0.10m from the shiny trophy cup, hand to the left arm.",
+    "Use the right arm to grab the teal microphone with white bottom, then pass it to the left arm, avoiding the trophy with red and blue ribbons.",
+    "Use the right arm to grab the switchable microphone with teal body, pass to the left arm, keep the switchable microphone with teal body 0.10m from the smooth golden trophy.",
+    "Pick up the long teal microphone with white grooves, avoid the smooth golden trophy by 0.10m, pass the long teal microphone with white grooves from the right arm to the left arm.",
+    "With the right arm, grab the switchable microphone with teal body, pass to the left arm, keeping the switchable microphone with teal body 0.10m from the shiny trophy cup.",
+    "Grab the long teal microphone with white grooves with the right arm, hand it to the left arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "Grab the teal microphone with white bottom with the right arm, keep 0.10m from the smooth golden trophy, hand to the left arm.",
+    "Use the right arm to grab the teal microphone with white bottom, then pass it to the left arm, avoiding the trophy with red and blue ribbons.",
+    "Use the right arm to grab the teal microphone with white bottom, pass to the left arm, keep the teal microphone with white bottom 0.10m from the shiny trophy cup.",
+    "Pick up the long teal microphone with white grooves, avoid the smooth golden trophy by 0.10m, pass the long teal microphone with white grooves from the right arm to the left arm.",
+    "With the right arm, grab the switchable microphone with teal body, pass to the left arm, keeping the switchable microphone with teal body 0.10m from the trophy with red and blue ribbons.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "Grab the teal microphone with white bottom with the right arm, keep 0.10m from the shiny trophy cup, hand to the left arm.",
+    "Use the right arm to grab the long teal microphone with white grooves, then pass it to the left arm, avoiding the smooth golden trophy."
+  ]
+}
\ No newline at end of file
diff --git a/handover_mic_wp1/handover_mic_wp1/instructions/episode41.json b/handover_mic_wp1/handover_mic_wp1/instructions/episode41.json
new file mode 100644
index 0000000000000000000000000000000000000000..f4575a3c2ffae89c8388afd4dfba749ed60ba775
--- /dev/null
+++ b/handover_mic_wp1/handover_mic_wp1/instructions/episode41.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Move the compact teal and white microphone from the right arm to the left arm while keeping clear of the glossy yellow trophy with base.",
+    "Grab the sound microphone with teal body, carry it around the award trophy with 0.10m clearance, then hand over.",
+    "Use the right arm to lift the textured white microphone head, then give the textured white microphone head to the left arm, avoiding the golden award with orange edges by 0.10m.",
+    "Take the textured white microphone head using the right arm, keep away from the gold cup with handles, and pass to the left arm.",
+    "Have the right arm take the long microphone with smooth teal grip, then the left arm takes the long microphone with smooth teal grip, keep 0.10m from the smooth gold cup-shaped trophy.",
+    "Pick up the long microphone with smooth teal grip using the right arm, transfer to the left arm, keep 0.10m from the smooth gold cup-shaped trophy.",
+    "Using the right arm, grab the white and teal sound microphone, keep 0.10m from the glossy yellow trophy with base, then give the white and teal sound microphone to the left arm.",
+    "Let the right arm grasp the compact teal and white microphone, move it 0.10m from the golden award with orange edges, then the left arm receives.",
+    "Take the white and teal sound microphone with the right arm, route it away from the smooth gold cup-shaped trophy, then hand it to the left arm.",
+    "Pick up the microphone with slider switch, move it staying 0.10m from the glossy yellow trophy with base, then complete the handoff.",
+    "With the right arm, grasp the long microphone with smooth teal grip, then hand the long microphone with smooth teal grip to the left arm, avoiding the award cup with orange highlights.",
+    "With the right arm, take the microphone with white rounded head, keep distance from the medium-sized yellow trophy, and give the microphone with white rounded head to the left arm.",
+    "Pick up the teal microphone with the right arm, transfer to the left arm, stay away from the gold cup with handles.",
+    "Lift the textured white microphone head with the right arm, give the textured white microphone head to the left arm, keep clear of the glossy yellow trophy with base 0.10m.",
+    "Have the right arm grasp the long microphone with smooth teal grip, avoid the golden award with orange edges by 0.10m, and transfer the long microphone with smooth teal grip to the left arm.",
+    "Using the right arm, take the handheld teal microphone and hand to the left arm, keeping 0.10m from the award cup with orange highlights.",
+    "Lift the handheld teal microphone, keep it 0.10m away from the glossy yellow trophy with base, then pass it across.",
+    "Secure the teal microphone, route it at least 0.10m from the two-handled prize trophy, then hand it over.",
+    "Get the microphone with slider switch with the right arm, shift the microphone with slider switch to the left arm, maintaining 0.10m from the medium-sized yellow trophy.",
+    "Take the rounded white tip microphone with the right arm, hand over to the left arm, keep the rounded white tip microphone 0.10m away from the smooth gold cup-shaped trophy.",
+    "Move the plastic teal microphone with slider from the right arm to the left arm while keeping clear of the decorative trophy with curved handles.",
+    "Grab the plastic teal microphone with slider, carry it around the gold cup with handles with 0.10m clearance, then hand over.",
+    "Use the right arm to lift the handheld teal microphone, then give the handheld teal microphone to the left arm, avoiding the golden trophy by 0.10m.",
+    "Take the plastic teal microphone with slider using the right arm, keep away from the golden award with orange edges, and pass to the left arm.",
+    "Have the right arm take the white and teal sound microphone, then the left arm takes the white and teal sound microphone, keep 0.10m from the award trophy.",
+    "Pick up the sound microphone with teal body using the right arm, transfer to the left arm, keep 0.10m from the medium-sized yellow trophy.",
+    "Using the right arm, grab the sound microphone with teal body, keep 0.10m from the golden award with orange edges, then give the sound microphone with teal body to the left arm.",
+    "Let the right arm grasp the handheld teal microphone, move it 0.10m from the two-handled prize trophy, then the left arm receives.",
+    "Take the handheld teal microphone with the right arm, route it away from the medium-sized yellow trophy, then hand it to the left arm.",
+    "Pick up the microphone with white rounded head, move it staying 0.10m from the award trophy, then complete the handoff.",
+    "With the right arm, grasp the rounded white tip microphone, then hand the rounded white tip microphone to the left arm, avoiding the decorative trophy with curved handles.",
+    "With the right arm, take the white and teal sound microphone, keep distance from the shiny golden prize trophy, and give the white and teal sound microphone to the left arm.",
+    "Pick up the handheld teal microphone with the right arm, transfer to the left arm, stay away from the two-handled prize trophy.",
+    "Lift the white and teal sound microphone with the right arm, give the white and teal sound microphone to the left arm, keep clear of the decorative trophy with curved handles 0.10m.",
+    "Have the right arm grasp the microphone with white rounded head, avoid the award cup with orange highlights by 0.10m, and transfer the microphone with white rounded head to the left arm.",
+    "Using the right arm, take the long microphone with smooth teal grip and hand to the left arm, keeping 0.10m from the golden award with orange edges.",
+    "Lift the long microphone with smooth teal grip, keep it 0.10m away from the trophy cup, then pass it across.",
+    "Secure the plastic teal microphone with slider, route it at least 0.10m from the award cup with orange highlights, then hand it over.",
+    "Get the handheld teal microphone with the right arm, shift the handheld teal microphone to the left arm, maintaining 0.10m from the medium-sized yellow trophy.",
+    "Take the white and teal sound microphone with the right arm, hand over to the left arm, keep the white and teal sound microphone 0.10m away from the shiny golden prize trophy.",
+    "Move the compact teal and white microphone from the right arm to the left arm while keeping clear of the gold cup with handles.",
+    "Grab the compact teal and white microphone, carry it around the trophy cup with 0.10m clearance, then hand over.",
+    "Use the right arm to lift the long microphone with smooth teal grip, then give the long microphone with smooth teal grip to the left arm, avoiding the glossy yellow trophy with base by 0.10m.",
+    "Take the white and teal sound microphone using the right arm, keep away from the glossy yellow trophy with base, and pass to the left arm.",
+    "Have the right arm take the textured white microphone head, then the left arm takes the textured white microphone head, keep 0.10m from the smooth gold cup-shaped trophy.",
+    "Pick up the microphone with slider switch using the right arm, transfer to the left arm, keep 0.10m from the golden trophy.",
+    "Using the right arm, grab the microphone with white rounded head, keep 0.10m from the award cup with orange highlights, then give the microphone with white rounded head to the left arm.",
+    "Let the right arm grasp the white bottom microphone with textured tip, move it 0.10m from the glossy yellow trophy with base, then the left arm receives.",
+    "Take the handheld teal microphone with the right arm, route it away from the shiny golden prize trophy, then hand it to the left arm.",
+    "Pick up the sound microphone with teal body, move it staying 0.10m from the golden award with orange edges, then complete the handoff.",
+    "With the right arm, grasp the microphone with white rounded head, then hand the microphone with white rounded head to the left arm, avoiding the golden trophy.",
+    "With the right arm, take the white bottom microphone with textured tip, keep distance from the golden trophy, and give the white bottom microphone with textured tip to the left arm.",
+    "Pick up the microphone with white rounded head with the right arm, transfer to the left arm, stay away from the decorative trophy with curved handles.",
+    "Lift the microphone with slider switch with the right arm, give the microphone with slider switch to the left arm, keep clear of the medium-sized yellow trophy 0.10m.",
+    "Have the right arm grasp the rounded white tip microphone, avoid the gold cup with handles by 0.10m, and transfer the rounded white tip microphone to the left arm.",
+    "Using the right arm, take the white and teal sound microphone and hand to the left arm, keeping 0.10m from the decorative trophy with curved handles.",
+    "Lift the plastic teal microphone with slider, keep it 0.10m away from the medium-sized yellow trophy, then pass it across.",
+    "Secure the sound microphone with teal body, route it at least 0.10m from the award trophy, then hand it over.",
+    "Get the rounded white tip microphone with the right arm, shift the rounded white tip microphone to the left arm, maintaining 0.10m from the trophy cup.",
+    "Take the handheld teal microphone with the right arm, hand over to the left arm, keep the handheld teal microphone 0.10m away from the trophy cup.",
+    "Move the teal microphone from the right arm to the left arm while keeping clear of the smooth gold cup-shaped trophy.",
+    "Grab the white bottom microphone with textured tip, carry it around the gold cup with handles with 0.10m clearance, then hand over.",
+    "Use the right arm to lift the microphone with slider switch, then give the microphone with slider switch to the left arm, avoiding the award trophy by 0.10m.",
+    "Take the microphone with white rounded head using the right arm, keep away from the award cup with orange highlights, and pass to the left arm.",
+    "Have the right arm take the microphone with slider switch, then the left arm takes the microphone with slider switch, keep 0.10m from the glossy yellow trophy with base.",
+    "Pick up the handheld teal microphone using the right arm, transfer to the left arm, keep 0.10m from the trophy cup.",
+    "Using the right arm, grab the microphone with white rounded head, keep 0.10m from the golden trophy, then give the microphone with white rounded head to the left arm.",
+    "Let the right arm grasp the textured white microphone head, move it 0.10m from the trophy cup, then the left arm receives.",
+    "Take the microphone with slider switch with the right arm, route it away from the shiny golden prize trophy, then hand it to the left arm.",
+    "Pick up the microphone with slider switch, move it staying 0.10m from the award trophy, then complete the handoff.",
+    "With the right arm, grasp the plastic teal microphone with slider, then hand the plastic teal microphone with slider to the left arm, avoiding the trophy cup.",
+    "With the right arm, take the white and teal sound microphone, keep distance from the smooth gold cup-shaped trophy, and give the white and teal sound microphone to the left arm.",
+    "Pick up the compact teal and white microphone with the right arm, transfer to the left arm, stay away from the golden trophy.",
+    "Lift the microphone with slider switch with the right arm, give the microphone with slider switch to the left arm, keep clear of the glossy yellow trophy with base 0.10m.",
+    "Have the right arm grasp the teal microphone, avoid the two-handled prize trophy by 0.10m, and transfer the teal microphone to the left arm.",
+    "Using the right arm, take the microphone with white rounded head and hand to the left arm, keeping 0.10m from the smooth gold cup-shaped trophy.",
+    "Lift the plastic teal microphone with slider, keep it 0.10m away from the award cup with orange highlights, then pass it across.",
+    "Secure the textured white microphone head, route it at least 0.10m from the trophy cup, then hand it over.",
+    "Get the microphone with slider switch with the right arm, shift the microphone with slider switch to the left arm, maintaining 0.10m from the trophy cup.",
+    "Take the textured white microphone head with the right arm, hand over to the left arm, keep the textured white microphone head 0.10m away from the decorative trophy with curved handles.",
+    "Move the teal microphone from the right arm to the left arm while keeping clear of the gold cup with handles.",
+    "Grab the long microphone with smooth teal grip, carry it around the gold cup with handles with 0.10m clearance, then hand over.",
+    "Use the right arm to lift the white and teal sound microphone, then give the white and teal sound microphone to the left arm, avoiding the two-handled prize trophy by 0.10m.",
+    "Take the long microphone with smooth teal grip using the right arm, keep away from the award cup with orange highlights, and pass to the left arm.",
+    "Have the right arm take the microphone with slider switch, then the left arm takes the microphone with slider switch, keep 0.10m from the decorative trophy with curved handles.",
+    "Pick up the long microphone with smooth teal grip using the right arm, transfer to the left arm, keep 0.10m from the award trophy.",
+    "Using the right arm, grab the sound microphone with teal body, keep 0.10m from the golden award with orange edges, then give the sound microphone with teal body to the left arm.",
+    "Let the right arm grasp the textured white microphone head, move it 0.10m from the award cup with orange highlights, then the left arm receives.",
+    "Take the white bottom microphone with textured tip with the right arm, route it away from the glossy yellow trophy with base, then hand it to the left arm.",
+    "Pick up the rounded white tip microphone, move it staying 0.10m from the glossy yellow trophy with base, then complete the handoff.",
+    "With the right arm, grasp the compact teal and white microphone, then hand the compact teal and white microphone to the left arm, avoiding the trophy cup.",
+    "With the right arm, take the compact teal and white microphone, keep distance from the glossy yellow trophy with base, and give the compact teal and white microphone to the left arm.",
+    "Pick up the plastic teal microphone with slider with the right arm, transfer to the left arm, stay away from the shiny golden prize trophy.",
+    "Lift the white and teal sound microphone with the right arm, give the white and teal sound microphone to the left arm, keep clear of the award cup with orange highlights 0.10m.",
+    "Have the right arm grasp the microphone with white rounded head, avoid the smooth gold cup-shaped trophy by 0.10m, and transfer the microphone with white rounded head to the left arm.",
+    "Using the right arm, take the teal microphone and hand to the left arm, keeping 0.10m from the trophy cup.",
+    "Lift the long microphone with smooth teal grip, keep it 0.10m away from the trophy cup, then pass it across.",
+    "Secure the compact teal and white microphone, route it at least 0.10m from the two-handled prize trophy, then hand it over.",
+    "Get the sound microphone with teal body with the right arm, shift the sound microphone with teal body to the left arm, maintaining 0.10m from the golden trophy.",
+    "Take the handheld teal microphone with the right arm, hand over to the left arm, keep the handheld teal microphone 0.10m away from the gold cup with handles."
+  ],
+  "unseen": [
+    "Grab the teal microphone with white bottom with the right arm, keep 0.10m from the hand-sized shiny gold trophy, hand to the left arm.",
+    "Use the right arm to grab the switchable microphone with teal body, pass to the left arm, keep the switchable microphone with teal body 0.10m from the golden trophy with round base.",
+    "Use the right arm to grab the switchable microphone with teal body, then pass it to the left arm, avoiding the hand-sized shiny gold trophy.",
+    "Pick up the teal microphone with white bottom, avoid the golden trophy with round base by 0.10m, pass the teal microphone with white bottom from the right arm to the left arm.",
+    "With the right arm, grab the long teal microphone with white grooves, pass to the left arm, keeping the long teal microphone with white grooves 0.10m from the golden trophy with round base.",
+    "Grab the teal microphone with white bottom with the right arm, hand it to the left arm, avoiding the hand-sized shiny gold trophy by 0.10m.",
+    "Grab the teal microphone with white bottom with the right arm, keep 0.10m from the yellow cup with round stand, hand to the left arm.",
+    "Use the right arm to grab the long teal microphone with white grooves, pass to the left arm, keep the long teal microphone with white grooves 0.10m from the golden trophy with round base.",
+    "Use the right arm to grab the switchable microphone with teal body, then pass it to the left arm, avoiding the golden trophy with round base.",
+    "Pick up the switchable microphone with teal body, avoid the golden trophy with round base by 0.10m, pass the switchable microphone with teal body from the right arm to the left arm.",
+    "With the right arm, grab the switchable microphone with teal body, pass to the left arm, keeping the switchable microphone with teal body 0.10m from the yellow cup with round stand.",
+    "Grab the long teal microphone with white grooves with the right arm, hand it to the left arm, avoiding the yellow cup with round stand by 0.10m.",
+    "Grab the switchable microphone with teal body with the right arm, keep 0.10m from the hand-sized shiny gold trophy, hand to the left arm.",
+    "Use the right arm to grab the teal microphone with white bottom, pass to the left arm, keep the teal microphone with white bottom 0.10m from the hand-sized shiny gold trophy.",
+    "Use the right arm to grab the long teal microphone with white grooves, then pass it to the left arm, avoiding the hand-sized shiny gold trophy.",
+    "Pick up the switchable microphone with teal body, avoid the golden trophy with round base by 0.10m, pass the switchable microphone with teal body from the right arm to the left arm.",
+    "With the right arm, grab the switchable microphone with teal body, pass to the left arm, keeping the switchable microphone with teal body 0.10m from the hand-sized shiny gold trophy.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the golden trophy with round base by 0.10m.",
+    "Grab the switchable microphone with teal body with the right arm, keep 0.10m from the hand-sized shiny gold trophy, hand to the left arm.",
+    "Use the right arm to grab the long teal microphone with white grooves, pass to the left arm, keep the long teal microphone with white grooves 0.10m from the hand-sized shiny gold trophy.",
+    "Use the right arm to grab the teal microphone with white bottom, then pass it to the left arm, avoiding the yellow cup with round stand.",
+    "Pick up the teal microphone with white bottom, avoid the golden trophy with round base by 0.10m, pass the teal microphone with white bottom from the right arm to the left arm.",
+    "With the right arm, grab the teal microphone with white bottom, pass to the left arm, keeping the teal microphone with white bottom 0.10m from the hand-sized shiny gold trophy.",
+    "Grab the long teal microphone with white grooves with the right arm, hand it to the left arm, avoiding the golden trophy with round base by 0.10m.",
+    "Grab the switchable microphone with teal body with the right arm, keep 0.10m from the golden trophy with round base, hand to the left arm.",
+    "Use the right arm to grab the teal microphone with white bottom, pass to the left arm, keep the teal microphone with white bottom 0.10m from the hand-sized shiny gold trophy.",
+    "Use the right arm to grab the switchable microphone with teal body, then pass it to the left arm, avoiding the golden trophy with round base.",
+    "Pick up the switchable microphone with teal body, avoid the golden trophy with round base by 0.10m, pass the switchable microphone with teal body from the right arm to the left arm.",
+    "With the right arm, grab the switchable microphone with teal body, pass to the left arm, keeping the switchable microphone with teal body 0.10m from the hand-sized shiny gold trophy.",
+    "Grab the long teal microphone with white grooves with the right arm, hand it to the left arm, avoiding the hand-sized shiny gold trophy by 0.10m.",
+    "Grab the teal microphone with white bottom with the right arm, keep 0.10m from the yellow cup with round stand, hand to the left arm.",
+    "Use the right arm to grab the teal microphone with white bottom, pass to the left arm, keep the teal microphone with white bottom 0.10m from the hand-sized shiny gold trophy.",
+    "Use the right arm to grab the switchable microphone with teal body, then pass it to the left arm, avoiding the golden trophy with round base.",
+    "Pick up the long teal microphone with white grooves, avoid the golden trophy with round base by 0.10m, pass the long teal microphone with white grooves from the right arm to the left arm.",
+    "With the right arm, grab the long teal microphone with white grooves, pass to the left arm, keeping the long teal microphone with white grooves 0.10m from the yellow cup with round stand.",
+    "Grab the long teal microphone with white grooves with the right arm, hand it to the left arm, avoiding the hand-sized shiny gold trophy by 0.10m.",
+    "Grab the teal microphone with white bottom with the right arm, keep 0.10m from the golden trophy with round base, hand to the left arm.",
+    "Use the right arm to grab the teal microphone with white bottom, pass to the left arm, keep the teal microphone with white bottom 0.10m from the golden trophy with round base.",
+    "Use the right arm to grab the teal microphone with white bottom, then pass it to the left arm, avoiding the yellow cup with round stand.",
+    "Pick up the switchable microphone with teal body, avoid the golden trophy with round base by 0.10m, pass the switchable microphone with teal body from the right arm to the left arm.",
+    "With the right arm, grab the long teal microphone with white grooves, pass to the left arm, keeping the long teal microphone with white grooves 0.10m from the yellow cup with round stand.",
+    "Grab the teal microphone with white bottom with the right arm, hand it to the left arm, avoiding the yellow cup with round stand by 0.10m.",
+    "Grab the teal microphone with white bottom with the right arm, keep 0.10m from the golden trophy with round base, hand to the left arm.",
+    "Use the right arm to grab the long teal microphone with white grooves, pass to the left arm, keep the long teal microphone with white grooves 0.10m from the hand-sized shiny gold trophy.",
+    "Use the right arm to grab the teal microphone with white bottom, then pass it to the left arm, avoiding the hand-sized shiny gold trophy.",
+    "Pick up the long teal microphone with white grooves, avoid the hand-sized shiny gold trophy by 0.10m, pass the long teal microphone with white grooves from the right arm to the left arm.",
+    "With the right arm, grab the teal microphone with white bottom, pass to the left arm, keeping the teal microphone with white bottom 0.10m from the yellow cup with round stand.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the hand-sized shiny gold trophy by 0.10m.",
+    "Grab the switchable microphone with teal body with the right arm, keep 0.10m from the yellow cup with round stand, hand to the left arm.",
+    "Use the right arm to grab the teal microphone with white bottom, pass to the left arm, keep the teal microphone with white bottom 0.10m from the hand-sized shiny gold trophy.",
+    "Use the right arm to grab the teal microphone with white bottom, then pass it to the left arm, avoiding the golden trophy with round base.",
+    "Pick up the teal microphone with white bottom, avoid the hand-sized shiny gold trophy by 0.10m, pass the teal microphone with white bottom from the right arm to the left arm.",
+    "With the right arm, grab the teal microphone with white bottom, pass to the left arm, keeping the teal microphone with white bottom 0.10m from the golden trophy with round base.",
+    "Grab the teal microphone with white bottom with the right arm, hand it to the left arm, avoiding the hand-sized shiny gold trophy by 0.10m.",
+    "Grab the switchable microphone with teal body with the right arm, keep 0.10m from the golden trophy with round base, hand to the left arm.",
+    "Use the right arm to grab the long teal microphone with white grooves, pass to the left arm, keep the long teal microphone with white grooves 0.10m from the golden trophy with round base.",
+    "Use the right arm to grab the switchable microphone with teal body, then pass it to the left arm, avoiding the hand-sized shiny gold trophy.",
+    "Pick up the teal microphone with white bottom, avoid the golden trophy with round base by 0.10m, pass the teal microphone with white bottom from the right arm to the left arm.",
+    "With the right arm, grab the teal microphone with white bottom, pass to the left arm, keeping the teal microphone with white bottom 0.10m from the yellow cup with round stand.",
+    "Grab the teal microphone with white bottom with the right arm, hand it to the left arm, avoiding the hand-sized shiny gold trophy by 0.10m.",
+    "Grab the long teal microphone with white grooves with the right arm, keep 0.10m from the hand-sized shiny gold trophy, hand to the left arm.",
+    "Use the right arm to grab the switchable microphone with teal body, pass to the left arm, keep the switchable microphone with teal body 0.10m from the hand-sized shiny gold trophy.",
+    "Use the right arm to grab the long teal microphone with white grooves, then pass it to the left arm, avoiding the hand-sized shiny gold trophy.",
+    "Pick up the switchable microphone with teal body, avoid the yellow cup with round stand by 0.10m, pass the switchable microphone with teal body from the right arm to the left arm.",
+    "With the right arm, grab the long teal microphone with white grooves, pass to the left arm, keeping the long teal microphone with white grooves 0.10m from the yellow cup with round stand.",
+    "Grab the teal microphone with white bottom with the right arm, hand it to the left arm, avoiding the golden trophy with round base by 0.10m.",
+    "Grab the long teal microphone with white grooves with the right arm, keep 0.10m from the golden trophy with round base, hand to the left arm.",
+    "Use the right arm to grab the teal microphone with white bottom, pass to the left arm, keep the teal microphone with white bottom 0.10m from the hand-sized shiny gold trophy.",
+    "Use the right arm to grab the switchable microphone with teal body, then pass it to the left arm, avoiding the yellow cup with round stand.",
+    "Pick up the switchable microphone with teal body, avoid the hand-sized shiny gold trophy by 0.10m, pass the switchable microphone with teal body from the right arm to the left arm.",
+    "With the right arm, grab the teal microphone with white bottom, pass to the left arm, keeping the teal microphone with white bottom 0.10m from the hand-sized shiny gold trophy.",
+    "Grab the teal microphone with white bottom with the right arm, hand it to the left arm, avoiding the hand-sized shiny gold trophy by 0.10m.",
+    "Grab the teal microphone with white bottom with the right arm, keep 0.10m from the golden trophy with round base, hand to the left arm.",
+    "Use the right arm to grab the switchable microphone with teal body, pass to the left arm, keep the switchable microphone with teal body 0.10m from the hand-sized shiny gold trophy.",
+    "Use the right arm to grab the teal microphone with white bottom, then pass it to the left arm, avoiding the hand-sized shiny gold trophy.",
+    "Pick up the teal microphone with white bottom, avoid the yellow cup with round stand by 0.10m, pass the teal microphone with white bottom from the right arm to the left arm.",
+    "With the right arm, grab the switchable microphone with teal body, pass to the left arm, keeping the switchable microphone with teal body 0.10m from the hand-sized shiny gold trophy.",
+    "Grab the long teal microphone with white grooves with the right arm, hand it to the left arm, avoiding the golden trophy with round base by 0.10m.",
+    "Grab the switchable microphone with teal body with the right arm, keep 0.10m from the yellow cup with round stand, hand to the left arm.",
+    "Use the right arm to grab the switchable microphone with teal body, pass to the left arm, keep the switchable microphone with teal body 0.10m from the hand-sized shiny gold trophy.",
+    "Use the right arm to grab the switchable microphone with teal body, then pass it to the left arm, avoiding the yellow cup with round stand.",
+    "Pick up the long teal microphone with white grooves, avoid the golden trophy with round base by 0.10m, pass the long teal microphone with white grooves from the right arm to the left arm.",
+    "With the right arm, grab the switchable microphone with teal body, pass to the left arm, keeping the switchable microphone with teal body 0.10m from the hand-sized shiny gold trophy.",
+    "Grab the teal microphone with white bottom with the right arm, hand it to the left arm, avoiding the hand-sized shiny gold trophy by 0.10m.",
+    "Grab the switchable microphone with teal body with the right arm, keep 0.10m from the hand-sized shiny gold trophy, hand to the left arm.",
+    "Use the right arm to grab the switchable microphone with teal body, pass to the left arm, keep the switchable microphone with teal body 0.10m from the golden trophy with round base.",
+    "Use the right arm to grab the long teal microphone with white grooves, then pass it to the left arm, avoiding the yellow cup with round stand.",
+    "Pick up the teal microphone with white bottom, avoid the golden trophy with round base by 0.10m, pass the teal microphone with white bottom from the right arm to the left arm.",
+    "With the right arm, grab the teal microphone with white bottom, pass to the left arm, keeping the teal microphone with white bottom 0.10m from the golden trophy with round base.",
+    "Grab the teal microphone with white bottom with the right arm, hand it to the left arm, avoiding the yellow cup with round stand by 0.10m.",
+    "Grab the long teal microphone with white grooves with the right arm, keep 0.10m from the hand-sized shiny gold trophy, hand to the left arm.",
+    "Use the right arm to grab the teal microphone with white bottom, pass to the left arm, keep the teal microphone with white bottom 0.10m from the yellow cup with round stand.",
+    "Use the right arm to grab the teal microphone with white bottom, then pass it to the left arm, avoiding the hand-sized shiny gold trophy.",
+    "Pick up the teal microphone with white bottom, avoid the golden trophy with round base by 0.10m, pass the teal microphone with white bottom from the right arm to the left arm.",
+    "With the right arm, grab the teal microphone with white bottom, pass to the left arm, keeping the teal microphone with white bottom 0.10m from the hand-sized shiny gold trophy.",
+    "Grab the long teal microphone with white grooves with the right arm, hand it to the left arm, avoiding the hand-sized shiny gold trophy by 0.10m.",
+    "Grab the switchable microphone with teal body with the right arm, keep 0.10m from the hand-sized shiny gold trophy, hand to the left arm.",
+    "Use the right arm to grab the switchable microphone with teal body, pass to the left arm, keep the switchable microphone with teal body 0.10m from the yellow cup with round stand.",
+    "Use the right arm to grab the long teal microphone with white grooves, then pass it to the left arm, avoiding the hand-sized shiny gold trophy.",
+    "Pick up the switchable microphone with teal body, avoid the golden trophy with round base by 0.10m, pass the switchable microphone with teal body from the right arm to the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/handover_mic_wp1/handover_mic_wp1/instructions/episode42.json b/handover_mic_wp1/handover_mic_wp1/instructions/episode42.json
new file mode 100644
index 0000000000000000000000000000000000000000..d63a4a591a94923001c1653aa7e730eb950221c2
--- /dev/null
+++ b/handover_mic_wp1/handover_mic_wp1/instructions/episode42.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Get the gray and dark blue microphone with the left arm, shift the gray and dark blue microphone to the right arm, maintaining 0.10m from the award cup with orange highlights.",
+    "Move the round head microphone from the left arm to the right arm while keeping clear of the golden award with orange edges.",
+    "Pick up the audio microphone with soft covering with the left arm, transfer to the right arm, stay away from the glossy yellow trophy with base.",
+    "Take the microphone covered with foam tip with the left arm, hand over to the right arm, keep the microphone covered with foam tip 0.10m away from the gold cup with handles.",
+    "Pick up the round head microphone, move it staying 0.10m from the golden award with orange edges, then complete the handoff.",
+    "Lift the microphone with dark blue padding, keep it 0.10m away from the award cup with orange highlights, then pass it across.",
+    "Grab the round head microphone, carry it around the shiny golden prize trophy with 0.10m clearance, then hand over.",
+    "Let the left arm grasp the gray and dark blue microphone, move it 0.10m from the glossy yellow trophy with base, then the right arm receives.",
+    "With the left arm, take the microphone for recording sound, keep distance from the medium-sized yellow trophy, and give the microphone for recording sound to the right arm.",
+    "Secure the gray and dark blue microphone, route it at least 0.10m from the award trophy, then hand it over.",
+    "Pick up the small audio microphone using the left arm, transfer to the right arm, keep 0.10m from the trophy cup.",
+    "Take the microphone covered with foam tip using the left arm, keep away from the gold cup with handles, and pass to the right arm.",
+    "Lift the gray and dark blue microphone with the left arm, give the gray and dark blue microphone to the right arm, keep clear of the award cup with orange highlights 0.10m.",
+    "With the left arm, grasp the microphone with round foam head, then hand the microphone with round foam head to the right arm, avoiding the smooth gold cup-shaped trophy.",
+    "Take the small audio microphone with the left arm, route it away from the medium-sized yellow trophy, then hand it to the right arm.",
+    "Use the left arm to lift the microphone with dark blue padding, then give the microphone with dark blue padding to the right arm, avoiding the two-handled prize trophy by 0.10m.",
+    "Have the left arm grasp the microphone with dark blue padding, avoid the gold cup with handles by 0.10m, and transfer the microphone with dark blue padding to the right arm.",
+    "Using the left arm, take the microphone with round foam head and hand to the right arm, keeping 0.10m from the decorative trophy with curved handles.",
+    "Have the left arm take the audio microphone with soft covering, then the right arm takes the audio microphone with soft covering, keep 0.10m from the award cup with orange highlights.",
+    "Using the left arm, grab the microphone with dark blue padding, keep 0.10m from the golden award with orange edges, then give the microphone with dark blue padding to the right arm.",
+    "Get the microphone with round foam head with the left arm, shift the microphone with round foam head to the right arm, maintaining 0.10m from the award cup with orange highlights.",
+    "Move the gray stem microphone with foam top from the left arm to the right arm while keeping clear of the decorative trophy with curved handles.",
+    "Pick up the microphone covered with foam tip with the left arm, transfer to the right arm, stay away from the glossy yellow trophy with base.",
+    "Take the audio microphone with soft covering with the left arm, hand over to the right arm, keep the audio microphone with soft covering 0.10m away from the medium-sized yellow trophy.",
+    "Pick up the microphone covered with foam tip, move it staying 0.10m from the golden trophy, then complete the handoff.",
+    "Lift the microphone with smooth gray stem, keep it 0.10m away from the shiny golden prize trophy, then pass it across.",
+    "Grab the medium microphone with two-tone color, carry it around the gold cup with handles with 0.10m clearance, then hand over.",
+    "Let the left arm grasp the gray stem microphone with foam top, move it 0.10m from the award trophy, then the right arm receives.",
+    "With the left arm, take the small audio microphone, keep distance from the award trophy, and give the small audio microphone to the right arm.",
+    "Secure the round head microphone, route it at least 0.10m from the award cup with orange highlights, then hand it over.",
+    "Pick up the audio microphone with soft covering using the left arm, transfer to the right arm, keep 0.10m from the award cup with orange highlights.",
+    "Take the microphone with dark blue padding using the left arm, keep away from the trophy cup, and pass to the right arm.",
+    "Lift the medium microphone with two-tone color with the left arm, give the medium microphone with two-tone color to the right arm, keep clear of the shiny golden prize trophy 0.10m.",
+    "With the left arm, grasp the dark blue microphone, then hand the dark blue microphone to the right arm, avoiding the smooth gold cup-shaped trophy.",
+    "Take the round head microphone with the left arm, route it away from the medium-sized yellow trophy, then hand it to the right arm.",
+    "Use the left arm to lift the round head microphone, then give the round head microphone to the right arm, avoiding the gold cup with handles by 0.10m.",
+    "Have the left arm grasp the microphone with smooth gray stem, avoid the glossy yellow trophy with base by 0.10m, and transfer the microphone with smooth gray stem to the right arm.",
+    "Using the left arm, take the microphone with round foam head and hand to the right arm, keeping 0.10m from the glossy yellow trophy with base.",
+    "Have the left arm take the dark blue microphone, then the right arm takes the dark blue microphone, keep 0.10m from the smooth gold cup-shaped trophy.",
+    "Using the left arm, grab the microphone for recording sound, keep 0.10m from the golden award with orange edges, then give the microphone for recording sound to the right arm.",
+    "Get the dark blue microphone with the left arm, shift the dark blue microphone to the right arm, maintaining 0.10m from the two-handled prize trophy.",
+    "Move the round head microphone from the left arm to the right arm while keeping clear of the award cup with orange highlights.",
+    "Pick up the microphone with dark blue padding with the left arm, transfer to the right arm, stay away from the decorative trophy with curved handles.",
+    "Take the gray and dark blue microphone with the left arm, hand over to the right arm, keep the gray and dark blue microphone 0.10m away from the medium-sized yellow trophy.",
+    "Pick up the gray and dark blue microphone, move it staying 0.10m from the shiny golden prize trophy, then complete the handoff.",
+    "Lift the dark blue microphone, keep it 0.10m away from the medium-sized yellow trophy, then pass it across.",
+    "Grab the audio microphone with soft covering, carry it around the award cup with orange highlights with 0.10m clearance, then hand over.",
+    "Let the left arm grasp the medium microphone with two-tone color, move it 0.10m from the golden award with orange edges, then the right arm receives.",
+    "With the left arm, take the medium microphone with two-tone color, keep distance from the medium-sized yellow trophy, and give the medium microphone with two-tone color to the right arm.",
+    "Secure the round head microphone, route it at least 0.10m from the gold cup with handles, then hand it over.",
+    "Pick up the medium microphone with two-tone color using the left arm, transfer to the right arm, keep 0.10m from the shiny golden prize trophy.",
+    "Take the microphone with dark blue padding using the left arm, keep away from the two-handled prize trophy, and pass to the right arm.",
+    "Lift the small audio microphone with the left arm, give the small audio microphone to the right arm, keep clear of the award trophy 0.10m.",
+    "With the left arm, grasp the dark blue microphone, then hand the dark blue microphone to the right arm, avoiding the smooth gold cup-shaped trophy.",
+    "Take the microphone with smooth gray stem with the left arm, route it away from the glossy yellow trophy with base, then hand it to the right arm.",
+    "Use the left arm to lift the gray stem microphone with foam top, then give the gray stem microphone with foam top to the right arm, avoiding the award trophy by 0.10m.",
+    "Have the left arm grasp the microphone with round foam head, avoid the gold cup with handles by 0.10m, and transfer the microphone with round foam head to the right arm.",
+    "Using the left arm, take the microphone for recording sound and hand to the right arm, keeping 0.10m from the decorative trophy with curved handles.",
+    "Have the left arm take the round head microphone, then the right arm takes the round head microphone, keep 0.10m from the decorative trophy with curved handles.",
+    "Using the left arm, grab the dark blue microphone, keep 0.10m from the golden trophy, then give the dark blue microphone to the right arm.",
+    "Get the microphone with round foam head with the left arm, shift the microphone with round foam head to the right arm, maintaining 0.10m from the award trophy.",
+    "Move the microphone for recording sound from the left arm to the right arm while keeping clear of the smooth gold cup-shaped trophy.",
+    "Pick up the microphone with dark blue padding with the left arm, transfer to the right arm, stay away from the golden trophy.",
+    "Take the gray stem microphone with foam top with the left arm, hand over to the right arm, keep the gray stem microphone with foam top 0.10m away from the shiny golden prize trophy.",
+    "Pick up the microphone covered with foam tip, move it staying 0.10m from the shiny golden prize trophy, then complete the handoff.",
+    "Lift the microphone with smooth gray stem, keep it 0.10m away from the smooth gold cup-shaped trophy, then pass it across.",
+    "Grab the gray and dark blue microphone, carry it around the decorative trophy with curved handles with 0.10m clearance, then hand over.",
+    "Let the left arm grasp the microphone for recording sound, move it 0.10m from the golden award with orange edges, then the right arm receives.",
+    "With the left arm, take the small audio microphone, keep distance from the award cup with orange highlights, and give the small audio microphone to the right arm.",
+    "Secure the small audio microphone, route it at least 0.10m from the medium-sized yellow trophy, then hand it over.",
+    "Pick up the small audio microphone using the left arm, transfer to the right arm, keep 0.10m from the shiny golden prize trophy.",
+    "Take the small audio microphone using the left arm, keep away from the award cup with orange highlights, and pass to the right arm.",
+    "Lift the audio microphone with soft covering with the left arm, give the audio microphone with soft covering to the right arm, keep clear of the two-handled prize trophy 0.10m.",
+    "With the left arm, grasp the audio microphone with soft covering, then hand the audio microphone with soft covering to the right arm, avoiding the award trophy.",
+    "Take the microphone with smooth gray stem with the left arm, route it away from the award trophy, then hand it to the right arm.",
+    "Use the left arm to lift the dark blue microphone, then give the dark blue microphone to the right arm, avoiding the medium-sized yellow trophy by 0.10m.",
+    "Have the left arm grasp the microphone with dark blue padding, avoid the smooth gold cup-shaped trophy by 0.10m, and transfer the microphone with dark blue padding to the right arm.",
+    "Using the left arm, take the microphone for recording sound and hand to the right arm, keeping 0.10m from the trophy cup.",
+    "Have the left arm take the gray stem microphone with foam top, then the right arm takes the gray stem microphone with foam top, keep 0.10m from the golden award with orange edges.",
+    "Using the left arm, grab the microphone with smooth gray stem, keep 0.10m from the award cup with orange highlights, then give the microphone with smooth gray stem to the right arm.",
+    "Get the microphone with round foam head with the left arm, shift the microphone with round foam head to the right arm, maintaining 0.10m from the medium-sized yellow trophy.",
+    "Move the microphone covered with foam tip from the left arm to the right arm while keeping clear of the award trophy.",
+    "Pick up the gray and dark blue microphone with the left arm, transfer to the right arm, stay away from the golden award with orange edges.",
+    "Take the microphone with round foam head with the left arm, hand over to the right arm, keep the microphone with round foam head 0.10m away from the golden award with orange edges.",
+    "Pick up the small audio microphone, move it staying 0.10m from the medium-sized yellow trophy, then complete the handoff.",
+    "Lift the gray and dark blue microphone, keep it 0.10m away from the gold cup with handles, then pass it across.",
+    "Grab the microphone with round foam head, carry it around the gold cup with handles with 0.10m clearance, then hand over.",
+    "Let the left arm grasp the microphone covered with foam tip, move it 0.10m from the two-handled prize trophy, then the right arm receives.",
+    "With the left arm, take the gray stem microphone with foam top, keep distance from the gold cup with handles, and give the gray stem microphone with foam top to the right arm.",
+    "Secure the dark blue microphone, route it at least 0.10m from the trophy cup, then hand it over.",
+    "Pick up the gray and dark blue microphone using the left arm, transfer to the right arm, keep 0.10m from the golden trophy.",
+    "Take the gray and dark blue microphone using the left arm, keep away from the medium-sized yellow trophy, and pass to the right arm.",
+    "Lift the audio microphone with soft covering with the left arm, give the audio microphone with soft covering to the right arm, keep clear of the smooth gold cup-shaped trophy 0.10m.",
+    "With the left arm, grasp the small audio microphone, then hand the small audio microphone to the right arm, avoiding the smooth gold cup-shaped trophy.",
+    "Take the gray stem microphone with foam top with the left arm, route it away from the glossy yellow trophy with base, then hand it to the right arm.",
+    "Use the left arm to lift the medium microphone with two-tone color, then give the medium microphone with two-tone color to the right arm, avoiding the golden award with orange edges by 0.10m.",
+    "Have the left arm grasp the medium microphone with two-tone color, avoid the smooth gold cup-shaped trophy by 0.10m, and transfer the medium microphone with two-tone color to the right arm.",
+    "Using the left arm, take the gray and dark blue microphone and hand to the right arm, keeping 0.10m from the medium-sized yellow trophy.",
+    "Have the left arm take the round head microphone, then the right arm takes the round head microphone, keep 0.10m from the golden trophy.",
+    "Using the left arm, grab the microphone with smooth gray stem, keep 0.10m from the award trophy, then give the microphone with smooth gray stem to the right arm."
+  ],
+  "unseen": [
+    "With the left arm, grab the microphone with cylindrical handle, pass to the right arm, keeping the microphone with cylindrical handle 0.10m from the yellow cup with round stand.",
+    "Pick up the handheld microphone, avoid the hand-sized shiny gold trophy by 0.10m, pass the handheld microphone from the left arm to the right arm.",
+    "Grab the handheld microphone with the left arm, keep 0.10m from the hand-sized shiny gold trophy, hand to the right arm.",
+    "Use the left arm to grab the microphone with cylindrical handle, pass to the right arm, keep the microphone with cylindrical handle 0.10m from the hand-sized shiny gold trophy.",
+    "Use the left arm to grab the handheld microphone, then pass it to the right arm, avoiding the hand-sized shiny gold trophy.",
+    "Grab the microphone with cylindrical handle with the left arm, hand it to the right arm, avoiding the yellow cup with round stand by 0.10m.",
+    "With the left arm, grab the microphone with cylindrical handle, pass to the right arm, keeping the microphone with cylindrical handle 0.10m from the golden trophy with round base.",
+    "Pick up the compact microphone with two parts, avoid the hand-sized shiny gold trophy by 0.10m, pass the compact microphone with two parts from the left arm to the right arm.",
+    "Grab the compact microphone with two parts with the left arm, keep 0.10m from the golden trophy with round base, hand to the right arm.",
+    "Use the left arm to grab the compact microphone with two parts, pass to the right arm, keep the compact microphone with two parts 0.10m from the yellow cup with round stand.",
+    "Use the left arm to grab the compact microphone with two parts, then pass it to the right arm, avoiding the hand-sized shiny gold trophy.",
+    "Grab the microphone with cylindrical handle with the left arm, hand it to the right arm, avoiding the hand-sized shiny gold trophy by 0.10m.",
+    "With the left arm, grab the microphone with cylindrical handle, pass to the right arm, keeping the microphone with cylindrical handle 0.10m from the hand-sized shiny gold trophy.",
+    "Pick up the microphone with cylindrical handle, avoid the hand-sized shiny gold trophy by 0.10m, pass the microphone with cylindrical handle from the left arm to the right arm.",
+    "Grab the compact microphone with two parts with the left arm, keep 0.10m from the hand-sized shiny gold trophy, hand to the right arm.",
+    "Use the left arm to grab the microphone with cylindrical handle, pass to the right arm, keep the microphone with cylindrical handle 0.10m from the yellow cup with round stand.",
+    "Use the left arm to grab the handheld microphone, then pass it to the right arm, avoiding the yellow cup with round stand.",
+    "Grab the microphone with cylindrical handle with the left arm, hand it to the right arm, avoiding the golden trophy with round base by 0.10m.",
+    "With the left arm, grab the microphone with cylindrical handle, pass to the right arm, keeping the microphone with cylindrical handle 0.10m from the golden trophy with round base.",
+    "Pick up the microphone with cylindrical handle, avoid the yellow cup with round stand by 0.10m, pass the microphone with cylindrical handle from the left arm to the right arm.",
+    "Grab the compact microphone with two parts with the left arm, keep 0.10m from the yellow cup with round stand, hand to the right arm.",
+    "Use the left arm to grab the handheld microphone, pass to the right arm, keep the handheld microphone 0.10m from the hand-sized shiny gold trophy.",
+    "Use the left arm to grab the handheld microphone, then pass it to the right arm, avoiding the golden trophy with round base.",
+    "Grab the compact microphone with two parts with the left arm, hand it to the right arm, avoiding the golden trophy with round base by 0.10m.",
+    "With the left arm, grab the microphone with cylindrical handle, pass to the right arm, keeping the microphone with cylindrical handle 0.10m from the yellow cup with round stand.",
+    "Pick up the compact microphone with two parts, avoid the golden trophy with round base by 0.10m, pass the compact microphone with two parts from the left arm to the right arm.",
+    "Grab the handheld microphone with the left arm, keep 0.10m from the golden trophy with round base, hand to the right arm.",
+    "Use the left arm to grab the handheld microphone, pass to the right arm, keep the handheld microphone 0.10m from the golden trophy with round base.",
+    "Use the left arm to grab the microphone with cylindrical handle, then pass it to the right arm, avoiding the hand-sized shiny gold trophy.",
+    "Grab the handheld microphone with the left arm, hand it to the right arm, avoiding the hand-sized shiny gold trophy by 0.10m.",
+    "With the left arm, grab the compact microphone with two parts, pass to the right arm, keeping the compact microphone with two parts 0.10m from the hand-sized shiny gold trophy.",
+    "Pick up the handheld microphone, avoid the golden trophy with round base by 0.10m, pass the handheld microphone from the left arm to the right arm.",
+    "Grab the compact microphone with two parts with the left arm, keep 0.10m from the golden trophy with round base, hand to the right arm.",
+    "Use the left arm to grab the microphone with cylindrical handle, pass to the right arm, keep the microphone with cylindrical handle 0.10m from the hand-sized shiny gold trophy.",
+    "Use the left arm to grab the compact microphone with two parts, then pass it to the right arm, avoiding the yellow cup with round stand.",
+    "Grab the compact microphone with two parts with the left arm, hand it to the right arm, avoiding the yellow cup with round stand by 0.10m.",
+    "With the left arm, grab the handheld microphone, pass to the right arm, keeping the handheld microphone 0.10m from the hand-sized shiny gold trophy.",
+    "Pick up the compact microphone with two parts, avoid the hand-sized shiny gold trophy by 0.10m, pass the compact microphone with two parts from the left arm to the right arm.",
+    "Grab the compact microphone with two parts with the left arm, keep 0.10m from the yellow cup with round stand, hand to the right arm.",
+    "Use the left arm to grab the compact microphone with two parts, pass to the right arm, keep the compact microphone with two parts 0.10m from the golden trophy with round base.",
+    "Use the left arm to grab the compact microphone with two parts, then pass it to the right arm, avoiding the hand-sized shiny gold trophy.",
+    "Grab the microphone with cylindrical handle with the left arm, hand it to the right arm, avoiding the golden trophy with round base by 0.10m.",
+    "With the left arm, grab the microphone with cylindrical handle, pass to the right arm, keeping the microphone with cylindrical handle 0.10m from the golden trophy with round base.",
+    "Pick up the microphone with cylindrical handle, avoid the golden trophy with round base by 0.10m, pass the microphone with cylindrical handle from the left arm to the right arm.",
+    "Grab the compact microphone with two parts with the left arm, keep 0.10m from the golden trophy with round base, hand to the right arm.",
+    "Use the left arm to grab the microphone with cylindrical handle, pass to the right arm, keep the microphone with cylindrical handle 0.10m from the golden trophy with round base.",
+    "Use the left arm to grab the microphone with cylindrical handle, then pass it to the right arm, avoiding the hand-sized shiny gold trophy.",
+    "Grab the handheld microphone with the left arm, hand it to the right arm, avoiding the yellow cup with round stand by 0.10m.",
+    "With the left arm, grab the microphone with cylindrical handle, pass to the right arm, keeping the microphone with cylindrical handle 0.10m from the golden trophy with round base.",
+    "Pick up the handheld microphone, avoid the hand-sized shiny gold trophy by 0.10m, pass the handheld microphone from the left arm to the right arm.",
+    "Grab the handheld microphone with the left arm, keep 0.10m from the golden trophy with round base, hand to the right arm.",
+    "Use the left arm to grab the compact microphone with two parts, pass to the right arm, keep the compact microphone with two parts 0.10m from the yellow cup with round stand.",
+    "Use the left arm to grab the microphone with cylindrical handle, then pass it to the right arm, avoiding the golden trophy with round base.",
+    "Grab the compact microphone with two parts with the left arm, hand it to the right arm, avoiding the hand-sized shiny gold trophy by 0.10m.",
+    "With the left arm, grab the compact microphone with two parts, pass to the right arm, keeping the compact microphone with two parts 0.10m from the yellow cup with round stand.",
+    "Pick up the compact microphone with two parts, avoid the yellow cup with round stand by 0.10m, pass the compact microphone with two parts from the left arm to the right arm.",
+    "Grab the handheld microphone with the left arm, keep 0.10m from the yellow cup with round stand, hand to the right arm.",
+    "Use the left arm to grab the microphone with cylindrical handle, pass to the right arm, keep the microphone with cylindrical handle 0.10m from the hand-sized shiny gold trophy.",
+    "Use the left arm to grab the compact microphone with two parts, then pass it to the right arm, avoiding the hand-sized shiny gold trophy.",
+    "Grab the microphone with cylindrical handle with the left arm, hand it to the right arm, avoiding the yellow cup with round stand by 0.10m.",
+    "With the left arm, grab the microphone with cylindrical handle, pass to the right arm, keeping the microphone with cylindrical handle 0.10m from the golden trophy with round base.",
+    "Pick up the handheld microphone, avoid the hand-sized shiny gold trophy by 0.10m, pass the handheld microphone from the left arm to the right arm.",
+    "Grab the microphone with cylindrical handle with the left arm, keep 0.10m from the golden trophy with round base, hand to the right arm.",
+    "Use the left arm to grab the compact microphone with two parts, pass to the right arm, keep the compact microphone with two parts 0.10m from the golden trophy with round base.",
+    "Use the left arm to grab the microphone with cylindrical handle, then pass it to the right arm, avoiding the golden trophy with round base.",
+    "Grab the compact microphone with two parts with the left arm, hand it to the right arm, avoiding the yellow cup with round stand by 0.10m.",
+    "With the left arm, grab the microphone with cylindrical handle, pass to the right arm, keeping the microphone with cylindrical handle 0.10m from the hand-sized shiny gold trophy.",
+    "Pick up the handheld microphone, avoid the hand-sized shiny gold trophy by 0.10m, pass the handheld microphone from the left arm to the right arm.",
+    "Grab the handheld microphone with the left arm, keep 0.10m from the hand-sized shiny gold trophy, hand to the right arm.",
+    "Use the left arm to grab the compact microphone with two parts, pass to the right arm, keep the compact microphone with two parts 0.10m from the yellow cup with round stand.",
+    "Use the left arm to grab the compact microphone with two parts, then pass it to the right arm, avoiding the yellow cup with round stand.",
+    "Grab the handheld microphone with the left arm, hand it to the right arm, avoiding the hand-sized shiny gold trophy by 0.10m.",
+    "With the left arm, grab the compact microphone with two parts, pass to the right arm, keeping the compact microphone with two parts 0.10m from the golden trophy with round base.",
+    "Pick up the microphone with cylindrical handle, avoid the yellow cup with round stand by 0.10m, pass the microphone with cylindrical handle from the left arm to the right arm.",
+    "Grab the compact microphone with two parts with the left arm, keep 0.10m from the yellow cup with round stand, hand to the right arm.",
+    "Use the left arm to grab the microphone with cylindrical handle, pass to the right arm, keep the microphone with cylindrical handle 0.10m from the yellow cup with round stand.",
+    "Use the left arm to grab the compact microphone with two parts, then pass it to the right arm, avoiding the golden trophy with round base.",
+    "Grab the microphone with cylindrical handle with the left arm, hand it to the right arm, avoiding the yellow cup with round stand by 0.10m.",
+    "With the left arm, grab the handheld microphone, pass to the right arm, keeping the handheld microphone 0.10m from the yellow cup with round stand.",
+    "Pick up the microphone with cylindrical handle, avoid the yellow cup with round stand by 0.10m, pass the microphone with cylindrical handle from the left arm to the right arm.",
+    "Grab the compact microphone with two parts with the left arm, keep 0.10m from the yellow cup with round stand, hand to the right arm.",
+    "Use the left arm to grab the microphone with cylindrical handle, pass to the right arm, keep the microphone with cylindrical handle 0.10m from the hand-sized shiny gold trophy.",
+    "Use the left arm to grab the handheld microphone, then pass it to the right arm, avoiding the yellow cup with round stand.",
+    "Grab the handheld microphone with the left arm, hand it to the right arm, avoiding the yellow cup with round stand by 0.10m.",
+    "With the left arm, grab the microphone with cylindrical handle, pass to the right arm, keeping the microphone with cylindrical handle 0.10m from the golden trophy with round base.",
+    "Pick up the microphone with cylindrical handle, avoid the hand-sized shiny gold trophy by 0.10m, pass the microphone with cylindrical handle from the left arm to the right arm.",
+    "Grab the compact microphone with two parts with the left arm, keep 0.10m from the golden trophy with round base, hand to the right arm.",
+    "Use the left arm to grab the compact microphone with two parts, pass to the right arm, keep the compact microphone with two parts 0.10m from the golden trophy with round base.",
+    "Use the left arm to grab the handheld microphone, then pass it to the right arm, avoiding the yellow cup with round stand.",
+    "Grab the handheld microphone with the left arm, hand it to the right arm, avoiding the hand-sized shiny gold trophy by 0.10m.",
+    "With the left arm, grab the microphone with cylindrical handle, pass to the right arm, keeping the microphone with cylindrical handle 0.10m from the hand-sized shiny gold trophy.",
+    "Pick up the microphone with cylindrical handle, avoid the hand-sized shiny gold trophy by 0.10m, pass the microphone with cylindrical handle from the left arm to the right arm.",
+    "Grab the handheld microphone with the left arm, keep 0.10m from the yellow cup with round stand, hand to the right arm.",
+    "Use the left arm to grab the microphone with cylindrical handle, pass to the right arm, keep the microphone with cylindrical handle 0.10m from the yellow cup with round stand.",
+    "Use the left arm to grab the compact microphone with two parts, then pass it to the right arm, avoiding the golden trophy with round base.",
+    "Grab the microphone with cylindrical handle with the left arm, hand it to the right arm, avoiding the yellow cup with round stand by 0.10m.",
+    "With the left arm, grab the compact microphone with two parts, pass to the right arm, keeping the compact microphone with two parts 0.10m from the yellow cup with round stand.",
+    "Pick up the microphone with cylindrical handle, avoid the hand-sized shiny gold trophy by 0.10m, pass the microphone with cylindrical handle from the left arm to the right arm.",
+    "Grab the compact microphone with two parts with the left arm, keep 0.10m from the golden trophy with round base, hand to the right arm.",
+    "Use the left arm to grab the microphone with cylindrical handle, pass to the right arm, keep the microphone with cylindrical handle 0.10m from the golden trophy with round base."
+  ]
+}
\ No newline at end of file
diff --git a/handover_mic_wp1/handover_mic_wp1/instructions/episode43.json b/handover_mic_wp1/handover_mic_wp1/instructions/episode43.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b26d62530070aa7f88c82589019fa397598e360
--- /dev/null
+++ b/handover_mic_wp1/handover_mic_wp1/instructions/episode43.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the microphone for recording sound with the right arm, give the microphone for recording sound to the left arm, keep clear of the two-handled prize trophy 0.10m.",
+    "Use the right arm to lift the microphone with dark blue padding, then give the microphone with dark blue padding to the left arm, avoiding the shiny golden prize trophy by 0.10m.",
+    "Pick up the round head microphone with the right arm, transfer to the left arm, stay away from the award cup with orange highlights.",
+    "Pick up the small audio microphone using the right arm, transfer to the left arm, keep 0.10m from the award cup with orange highlights.",
+    "Using the right arm, take the medium microphone with two-tone color and hand to the left arm, keeping 0.10m from the two-handled prize trophy.",
+    "Take the medium microphone with two-tone color with the right arm, route it away from the medium-sized yellow trophy, then hand it to the left arm.",
+    "Lift the microphone covered with foam tip, keep it 0.10m away from the decorative trophy with curved handles, then pass it across.",
+    "Let the right arm grasp the round head microphone, move it 0.10m from the glossy yellow trophy with base, then the left arm receives.",
+    "Have the right arm grasp the round head microphone, avoid the trophy cup by 0.10m, and transfer the round head microphone to the left arm.",
+    "With the right arm, grasp the medium microphone with two-tone color, then hand the medium microphone with two-tone color to the left arm, avoiding the shiny golden prize trophy.",
+    "Secure the small audio microphone, route it at least 0.10m from the shiny golden prize trophy, then hand it over.",
+    "Move the microphone with smooth gray stem from the right arm to the left arm while keeping clear of the golden award with orange edges.",
+    "Take the small audio microphone with the right arm, hand over to the left arm, keep the small audio microphone 0.10m away from the award trophy.",
+    "Pick up the microphone with smooth gray stem, move it staying 0.10m from the golden award with orange edges, then complete the handoff.",
+    "Get the microphone with dark blue padding with the right arm, shift the microphone with dark blue padding to the left arm, maintaining 0.10m from the award cup with orange highlights.",
+    "Have the right arm take the gray and dark blue microphone, then the left arm takes the gray and dark blue microphone, keep 0.10m from the award cup with orange highlights.",
+    "Take the small audio microphone using the right arm, keep away from the trophy cup, and pass to the left arm.",
+    "With the right arm, take the dark blue microphone, keep distance from the medium-sized yellow trophy, and give the dark blue microphone to the left arm.",
+    "Using the right arm, grab the microphone with dark blue padding, keep 0.10m from the glossy yellow trophy with base, then give the microphone with dark blue padding to the left arm.",
+    "Grab the small audio microphone, carry it around the award trophy with 0.10m clearance, then hand over.",
+    "Lift the audio microphone with soft covering with the right arm, give the audio microphone with soft covering to the left arm, keep clear of the decorative trophy with curved handles 0.10m.",
+    "Use the right arm to lift the dark blue microphone, then give the dark blue microphone to the left arm, avoiding the shiny golden prize trophy by 0.10m.",
+    "Pick up the medium microphone with two-tone color with the right arm, transfer to the left arm, stay away from the trophy cup.",
+    "Pick up the audio microphone with soft covering using the right arm, transfer to the left arm, keep 0.10m from the golden award with orange edges.",
+    "Using the right arm, take the microphone for recording sound and hand to the left arm, keeping 0.10m from the golden trophy.",
+    "Take the round head microphone with the right arm, route it away from the golden award with orange edges, then hand it to the left arm.",
+    "Lift the small audio microphone, keep it 0.10m away from the shiny golden prize trophy, then pass it across.",
+    "Let the right arm grasp the microphone covered with foam tip, move it 0.10m from the shiny golden prize trophy, then the left arm receives.",
+    "Have the right arm grasp the gray stem microphone with foam top, avoid the two-handled prize trophy by 0.10m, and transfer the gray stem microphone with foam top to the left arm.",
+    "With the right arm, grasp the medium microphone with two-tone color, then hand the medium microphone with two-tone color to the left arm, avoiding the trophy cup.",
+    "Secure the microphone with dark blue padding, route it at least 0.10m from the award trophy, then hand it over.",
+    "Move the round head microphone from the right arm to the left arm while keeping clear of the decorative trophy with curved handles.",
+    "Take the medium microphone with two-tone color with the right arm, hand over to the left arm, keep the medium microphone with two-tone color 0.10m away from the two-handled prize trophy.",
+    "Pick up the microphone with smooth gray stem, move it staying 0.10m from the smooth gold cup-shaped trophy, then complete the handoff.",
+    "Get the gray and dark blue microphone with the right arm, shift the gray and dark blue microphone to the left arm, maintaining 0.10m from the award cup with orange highlights.",
+    "Have the right arm take the microphone with dark blue padding, then the left arm takes the microphone with dark blue padding, keep 0.10m from the shiny golden prize trophy.",
+    "Take the microphone with round foam head using the right arm, keep away from the golden trophy, and pass to the left arm.",
+    "With the right arm, take the audio microphone with soft covering, keep distance from the two-handled prize trophy, and give the audio microphone with soft covering to the left arm.",
+    "Using the right arm, grab the medium microphone with two-tone color, keep 0.10m from the trophy cup, then give the medium microphone with two-tone color to the left arm.",
+    "Grab the microphone with dark blue padding, carry it around the trophy cup with 0.10m clearance, then hand over.",
+    "Lift the small audio microphone with the right arm, give the small audio microphone to the left arm, keep clear of the glossy yellow trophy with base 0.10m.",
+    "Use the right arm to lift the microphone with round foam head, then give the microphone with round foam head to the left arm, avoiding the golden trophy by 0.10m.",
+    "Pick up the round head microphone with the right arm, transfer to the left arm, stay away from the golden award with orange edges.",
+    "Pick up the audio microphone with soft covering using the right arm, transfer to the left arm, keep 0.10m from the award cup with orange highlights.",
+    "Using the right arm, take the small audio microphone and hand to the left arm, keeping 0.10m from the glossy yellow trophy with base.",
+    "Take the gray stem microphone with foam top with the right arm, route it away from the gold cup with handles, then hand it to the left arm.",
+    "Lift the microphone with dark blue padding, keep it 0.10m away from the award trophy, then pass it across.",
+    "Let the right arm grasp the dark blue microphone, move it 0.10m from the glossy yellow trophy with base, then the left arm receives.",
+    "Have the right arm grasp the audio microphone with soft covering, avoid the two-handled prize trophy by 0.10m, and transfer the audio microphone with soft covering to the left arm.",
+    "With the right arm, grasp the medium microphone with two-tone color, then hand the medium microphone with two-tone color to the left arm, avoiding the trophy cup.",
+    "Secure the microphone with round foam head, route it at least 0.10m from the glossy yellow trophy with base, then hand it over.",
+    "Move the microphone with round foam head from the right arm to the left arm while keeping clear of the smooth gold cup-shaped trophy.",
+    "Take the microphone with smooth gray stem with the right arm, hand over to the left arm, keep the microphone with smooth gray stem 0.10m away from the golden award with orange edges.",
+    "Pick up the medium microphone with two-tone color, move it staying 0.10m from the golden trophy, then complete the handoff.",
+    "Get the microphone with smooth gray stem with the right arm, shift the microphone with smooth gray stem to the left arm, maintaining 0.10m from the golden award with orange edges.",
+    "Have the right arm take the microphone with dark blue padding, then the left arm takes the microphone with dark blue padding, keep 0.10m from the shiny golden prize trophy.",
+    "Take the microphone with dark blue padding using the right arm, keep away from the golden award with orange edges, and pass to the left arm.",
+    "With the right arm, take the microphone with dark blue padding, keep distance from the golden award with orange edges, and give the microphone with dark blue padding to the left arm.",
+    "Using the right arm, grab the microphone for recording sound, keep 0.10m from the golden award with orange edges, then give the microphone for recording sound to the left arm.",
+    "Grab the medium microphone with two-tone color, carry it around the award cup with orange highlights with 0.10m clearance, then hand over.",
+    "Lift the microphone with smooth gray stem with the right arm, give the microphone with smooth gray stem to the left arm, keep clear of the golden trophy 0.10m.",
+    "Use the right arm to lift the small audio microphone, then give the small audio microphone to the left arm, avoiding the golden trophy by 0.10m.",
+    "Pick up the microphone with smooth gray stem with the right arm, transfer to the left arm, stay away from the glossy yellow trophy with base.",
+    "Pick up the gray stem microphone with foam top using the right arm, transfer to the left arm, keep 0.10m from the gold cup with handles.",
+    "Using the right arm, take the round head microphone and hand to the left arm, keeping 0.10m from the golden award with orange edges.",
+    "Take the round head microphone with the right arm, route it away from the gold cup with handles, then hand it to the left arm.",
+    "Lift the gray and dark blue microphone, keep it 0.10m away from the shiny golden prize trophy, then pass it across.",
+    "Let the right arm grasp the microphone with dark blue padding, move it 0.10m from the shiny golden prize trophy, then the left arm receives.",
+    "Have the right arm grasp the microphone with smooth gray stem, avoid the award trophy by 0.10m, and transfer the microphone with smooth gray stem to the left arm.",
+    "With the right arm, grasp the microphone with smooth gray stem, then hand the microphone with smooth gray stem to the left arm, avoiding the shiny golden prize trophy.",
+    "Secure the microphone with dark blue padding, route it at least 0.10m from the shiny golden prize trophy, then hand it over.",
+    "Move the microphone covered with foam tip from the right arm to the left arm while keeping clear of the golden award with orange edges.",
+    "Take the medium microphone with two-tone color with the right arm, hand over to the left arm, keep the medium microphone with two-tone color 0.10m away from the two-handled prize trophy.",
+    "Pick up the microphone covered with foam tip, move it staying 0.10m from the smooth gold cup-shaped trophy, then complete the handoff.",
+    "Get the microphone with smooth gray stem with the right arm, shift the microphone with smooth gray stem to the left arm, maintaining 0.10m from the decorative trophy with curved handles.",
+    "Have the right arm take the audio microphone with soft covering, then the left arm takes the audio microphone with soft covering, keep 0.10m from the smooth gold cup-shaped trophy.",
+    "Take the small audio microphone using the right arm, keep away from the shiny golden prize trophy, and pass to the left arm.",
+    "With the right arm, take the medium microphone with two-tone color, keep distance from the glossy yellow trophy with base, and give the medium microphone with two-tone color to the left arm.",
+    "Using the right arm, grab the microphone with dark blue padding, keep 0.10m from the trophy cup, then give the microphone with dark blue padding to the left arm.",
+    "Grab the dark blue microphone, carry it around the gold cup with handles with 0.10m clearance, then hand over.",
+    "Lift the medium microphone with two-tone color with the right arm, give the medium microphone with two-tone color to the left arm, keep clear of the smooth gold cup-shaped trophy 0.10m.",
+    "Use the right arm to lift the dark blue microphone, then give the dark blue microphone to the left arm, avoiding the shiny golden prize trophy by 0.10m.",
+    "Pick up the microphone with smooth gray stem with the right arm, transfer to the left arm, stay away from the medium-sized yellow trophy.",
+    "Pick up the round head microphone using the right arm, transfer to the left arm, keep 0.10m from the award cup with orange highlights.",
+    "Using the right arm, take the gray and dark blue microphone and hand to the left arm, keeping 0.10m from the glossy yellow trophy with base.",
+    "Take the microphone for recording sound with the right arm, route it away from the decorative trophy with curved handles, then hand it to the left arm.",
+    "Lift the microphone with dark blue padding, keep it 0.10m away from the medium-sized yellow trophy, then pass it across.",
+    "Let the right arm grasp the audio microphone with soft covering, move it 0.10m from the decorative trophy with curved handles, then the left arm receives.",
+    "Have the right arm grasp the audio microphone with soft covering, avoid the award cup with orange highlights by 0.10m, and transfer the audio microphone with soft covering to the left arm.",
+    "With the right arm, grasp the dark blue microphone, then hand the dark blue microphone to the left arm, avoiding the golden award with orange edges.",
+    "Secure the dark blue microphone, route it at least 0.10m from the trophy cup, then hand it over.",
+    "Move the microphone for recording sound from the right arm to the left arm while keeping clear of the smooth gold cup-shaped trophy.",
+    "Take the microphone with dark blue padding with the right arm, hand over to the left arm, keep the microphone with dark blue padding 0.10m away from the decorative trophy with curved handles.",
+    "Pick up the audio microphone with soft covering, move it staying 0.10m from the golden award with orange edges, then complete the handoff.",
+    "Get the round head microphone with the right arm, shift the round head microphone to the left arm, maintaining 0.10m from the glossy yellow trophy with base.",
+    "Have the right arm take the microphone with smooth gray stem, then the left arm takes the microphone with smooth gray stem, keep 0.10m from the shiny golden prize trophy.",
+    "Take the audio microphone with soft covering using the right arm, keep away from the shiny golden prize trophy, and pass to the left arm.",
+    "With the right arm, take the microphone for recording sound, keep distance from the smooth gold cup-shaped trophy, and give the microphone for recording sound to the left arm.",
+    "Using the right arm, grab the small audio microphone, keep 0.10m from the medium-sized yellow trophy, then give the small audio microphone to the left arm.",
+    "Grab the audio microphone with soft covering, carry it around the award trophy with 0.10m clearance, then hand over."
+  ],
+  "unseen": [
+    "Grab the microphone with cylindrical handle with the right arm, keep 0.10m from the golden trophy with round base, hand to the left arm.",
+    "Pick up the compact microphone with two parts, avoid the yellow cup with round stand by 0.10m, pass the compact microphone with two parts from the right arm to the left arm.",
+    "With the right arm, grab the compact microphone with two parts, pass to the left arm, keeping the compact microphone with two parts 0.10m from the yellow cup with round stand.",
+    "Use the right arm to grab the handheld microphone, then pass it to the left arm, avoiding the golden trophy with round base.",
+    "Use the right arm to grab the microphone with cylindrical handle, pass to the left arm, keep the microphone with cylindrical handle 0.10m from the yellow cup with round stand.",
+    "Grab the handheld microphone with the right arm, hand it to the left arm, avoiding the golden trophy with round base by 0.10m.",
+    "Grab the microphone with cylindrical handle with the right arm, keep 0.10m from the yellow cup with round stand, hand to the left arm.",
+    "Pick up the compact microphone with two parts, avoid the yellow cup with round stand by 0.10m, pass the compact microphone with two parts from the right arm to the left arm.",
+    "With the right arm, grab the compact microphone with two parts, pass to the left arm, keeping the compact microphone with two parts 0.10m from the hand-sized shiny gold trophy.",
+    "Use the right arm to grab the handheld microphone, then pass it to the left arm, avoiding the hand-sized shiny gold trophy.",
+    "Use the right arm to grab the compact microphone with two parts, pass to the left arm, keep the compact microphone with two parts 0.10m from the golden trophy with round base.",
+    "Grab the microphone with cylindrical handle with the right arm, hand it to the left arm, avoiding the golden trophy with round base by 0.10m.",
+    "Grab the compact microphone with two parts with the right arm, keep 0.10m from the hand-sized shiny gold trophy, hand to the left arm.",
+    "Pick up the microphone with cylindrical handle, avoid the golden trophy with round base by 0.10m, pass the microphone with cylindrical handle from the right arm to the left arm.",
+    "With the right arm, grab the compact microphone with two parts, pass to the left arm, keeping the compact microphone with two parts 0.10m from the yellow cup with round stand.",
+    "Use the right arm to grab the compact microphone with two parts, then pass it to the left arm, avoiding the golden trophy with round base.",
+    "Use the right arm to grab the handheld microphone, pass to the left arm, keep the handheld microphone 0.10m from the golden trophy with round base.",
+    "Grab the compact microphone with two parts with the right arm, hand it to the left arm, avoiding the golden trophy with round base by 0.10m.",
+    "Grab the handheld microphone with the right arm, keep 0.10m from the golden trophy with round base, hand to the left arm.",
+    "Pick up the microphone with cylindrical handle, avoid the golden trophy with round base by 0.10m, pass the microphone with cylindrical handle from the right arm to the left arm.",
+    "With the right arm, grab the compact microphone with two parts, pass to the left arm, keeping the compact microphone with two parts 0.10m from the hand-sized shiny gold trophy.",
+    "Use the right arm to grab the handheld microphone, then pass it to the left arm, avoiding the hand-sized shiny gold trophy.",
+    "Use the right arm to grab the microphone with cylindrical handle, pass to the left arm, keep the microphone with cylindrical handle 0.10m from the golden trophy with round base.",
+    "Grab the compact microphone with two parts with the right arm, hand it to the left arm, avoiding the yellow cup with round stand by 0.10m.",
+    "Grab the microphone with cylindrical handle with the right arm, keep 0.10m from the hand-sized shiny gold trophy, hand to the left arm.",
+    "Pick up the handheld microphone, avoid the yellow cup with round stand by 0.10m, pass the handheld microphone from the right arm to the left arm.",
+    "With the right arm, grab the microphone with cylindrical handle, pass to the left arm, keeping the microphone with cylindrical handle 0.10m from the hand-sized shiny gold trophy.",
+    "Use the right arm to grab the compact microphone with two parts, then pass it to the left arm, avoiding the golden trophy with round base.",
+    "Use the right arm to grab the compact microphone with two parts, pass to the left arm, keep the compact microphone with two parts 0.10m from the yellow cup with round stand.",
+    "Grab the compact microphone with two parts with the right arm, hand it to the left arm, avoiding the hand-sized shiny gold trophy by 0.10m.",
+    "Grab the compact microphone with two parts with the right arm, keep 0.10m from the golden trophy with round base, hand to the left arm.",
+    "Pick up the compact microphone with two parts, avoid the hand-sized shiny gold trophy by 0.10m, pass the compact microphone with two parts from the right arm to the left arm.",
+    "With the right arm, grab the compact microphone with two parts, pass to the left arm, keeping the compact microphone with two parts 0.10m from the golden trophy with round base.",
+    "Use the right arm to grab the handheld microphone, then pass it to the left arm, avoiding the hand-sized shiny gold trophy.",
+    "Use the right arm to grab the handheld microphone, pass to the left arm, keep the handheld microphone 0.10m from the hand-sized shiny gold trophy.",
+    "Grab the handheld microphone with the right arm, hand it to the left arm, avoiding the yellow cup with round stand by 0.10m.",
+    "Grab the microphone with cylindrical handle with the right arm, keep 0.10m from the yellow cup with round stand, hand to the left arm.",
+    "Pick up the compact microphone with two parts, avoid the golden trophy with round base by 0.10m, pass the compact microphone with two parts from the right arm to the left arm.",
+    "With the right arm, grab the handheld microphone, pass to the left arm, keeping the handheld microphone 0.10m from the hand-sized shiny gold trophy.",
+    "Use the right arm to grab the compact microphone with two parts, then pass it to the left arm, avoiding the yellow cup with round stand.",
+    "Use the right arm to grab the handheld microphone, pass to the left arm, keep the handheld microphone 0.10m from the yellow cup with round stand.",
+    "Grab the compact microphone with two parts with the right arm, hand it to the left arm, avoiding the yellow cup with round stand by 0.10m.",
+    "Grab the handheld microphone with the right arm, keep 0.10m from the golden trophy with round base, hand to the left arm.",
+    "Pick up the handheld microphone, avoid the golden trophy with round base by 0.10m, pass the handheld microphone from the right arm to the left arm.",
+    "With the right arm, grab the microphone with cylindrical handle, pass to the left arm, keeping the microphone with cylindrical handle 0.10m from the yellow cup with round stand.",
+    "Use the right arm to grab the handheld microphone, then pass it to the left arm, avoiding the yellow cup with round stand.",
+    "Use the right arm to grab the microphone with cylindrical handle, pass to the left arm, keep the microphone with cylindrical handle 0.10m from the golden trophy with round base.",
+    "Grab the compact microphone with two parts with the right arm, hand it to the left arm, avoiding the yellow cup with round stand by 0.10m.",
+    "Grab the compact microphone with two parts with the right arm, keep 0.10m from the hand-sized shiny gold trophy, hand to the left arm.",
+    "Pick up the microphone with cylindrical handle, avoid the hand-sized shiny gold trophy by 0.10m, pass the microphone with cylindrical handle from the right arm to the left arm.",
+    "With the right arm, grab the compact microphone with two parts, pass to the left arm, keeping the compact microphone with two parts 0.10m from the golden trophy with round base.",
+    "Use the right arm to grab the compact microphone with two parts, then pass it to the left arm, avoiding the yellow cup with round stand.",
+    "Use the right arm to grab the microphone with cylindrical handle, pass to the left arm, keep the microphone with cylindrical handle 0.10m from the yellow cup with round stand.",
+    "Grab the handheld microphone with the right arm, hand it to the left arm, avoiding the hand-sized shiny gold trophy by 0.10m.",
+    "Grab the compact microphone with two parts with the right arm, keep 0.10m from the hand-sized shiny gold trophy, hand to the left arm.",
+    "Pick up the compact microphone with two parts, avoid the hand-sized shiny gold trophy by 0.10m, pass the compact microphone with two parts from the right arm to the left arm.",
+    "With the right arm, grab the microphone with cylindrical handle, pass to the left arm, keeping the microphone with cylindrical handle 0.10m from the hand-sized shiny gold trophy.",
+    "Use the right arm to grab the handheld microphone, then pass it to the left arm, avoiding the golden trophy with round base.",
+    "Use the right arm to grab the compact microphone with two parts, pass to the left arm, keep the compact microphone with two parts 0.10m from the yellow cup with round stand.",
+    "Grab the handheld microphone with the right arm, hand it to the left arm, avoiding the hand-sized shiny gold trophy by 0.10m.",
+    "Grab the handheld microphone with the right arm, keep 0.10m from the yellow cup with round stand, hand to the left arm.",
+    "Pick up the microphone with cylindrical handle, avoid the golden trophy with round base by 0.10m, pass the microphone with cylindrical handle from the right arm to the left arm.",
+    "With the right arm, grab the compact microphone with two parts, pass to the left arm, keeping the compact microphone with two parts 0.10m from the yellow cup with round stand.",
+    "Use the right arm to grab the handheld microphone, then pass it to the left arm, avoiding the yellow cup with round stand.",
+    "Use the right arm to grab the compact microphone with two parts, pass to the left arm, keep the compact microphone with two parts 0.10m from the yellow cup with round stand.",
+    "Grab the compact microphone with two parts with the right arm, hand it to the left arm, avoiding the yellow cup with round stand by 0.10m.",
+    "Grab the microphone with cylindrical handle with the right arm, keep 0.10m from the golden trophy with round base, hand to the left arm.",
+    "Pick up the microphone with cylindrical handle, avoid the hand-sized shiny gold trophy by 0.10m, pass the microphone with cylindrical handle from the right arm to the left arm.",
+    "With the right arm, grab the compact microphone with two parts, pass to the left arm, keeping the compact microphone with two parts 0.10m from the yellow cup with round stand.",
+    "Use the right arm to grab the compact microphone with two parts, then pass it to the left arm, avoiding the golden trophy with round base.",
+    "Use the right arm to grab the handheld microphone, pass to the left arm, keep the handheld microphone 0.10m from the golden trophy with round base.",
+    "Grab the microphone with cylindrical handle with the right arm, hand it to the left arm, avoiding the yellow cup with round stand by 0.10m.",
+    "Grab the compact microphone with two parts with the right arm, keep 0.10m from the yellow cup with round stand, hand to the left arm.",
+    "Pick up the microphone with cylindrical handle, avoid the yellow cup with round stand by 0.10m, pass the microphone with cylindrical handle from the right arm to the left arm.",
+    "With the right arm, grab the compact microphone with two parts, pass to the left arm, keeping the compact microphone with two parts 0.10m from the hand-sized shiny gold trophy.",
+    "Use the right arm to grab the compact microphone with two parts, then pass it to the left arm, avoiding the yellow cup with round stand.",
+    "Use the right arm to grab the handheld microphone, pass to the left arm, keep the handheld microphone 0.10m from the hand-sized shiny gold trophy.",
+    "Grab the microphone with cylindrical handle with the right arm, hand it to the left arm, avoiding the hand-sized shiny gold trophy by 0.10m.",
+    "Grab the handheld microphone with the right arm, keep 0.10m from the hand-sized shiny gold trophy, hand to the left arm.",
+    "Pick up the handheld microphone, avoid the hand-sized shiny gold trophy by 0.10m, pass the handheld microphone from the right arm to the left arm.",
+    "With the right arm, grab the compact microphone with two parts, pass to the left arm, keeping the compact microphone with two parts 0.10m from the yellow cup with round stand.",
+    "Use the right arm to grab the handheld microphone, then pass it to the left arm, avoiding the golden trophy with round base.",
+    "Use the right arm to grab the microphone with cylindrical handle, pass to the left arm, keep the microphone with cylindrical handle 0.10m from the yellow cup with round stand.",
+    "Grab the compact microphone with two parts with the right arm, hand it to the left arm, avoiding the hand-sized shiny gold trophy by 0.10m.",
+    "Grab the compact microphone with two parts with the right arm, keep 0.10m from the hand-sized shiny gold trophy, hand to the left arm.",
+    "Pick up the handheld microphone, avoid the hand-sized shiny gold trophy by 0.10m, pass the handheld microphone from the right arm to the left arm.",
+    "With the right arm, grab the compact microphone with two parts, pass to the left arm, keeping the compact microphone with two parts 0.10m from the golden trophy with round base.",
+    "Use the right arm to grab the microphone with cylindrical handle, then pass it to the left arm, avoiding the golden trophy with round base.",
+    "Use the right arm to grab the microphone with cylindrical handle, pass to the left arm, keep the microphone with cylindrical handle 0.10m from the yellow cup with round stand.",
+    "Grab the compact microphone with two parts with the right arm, hand it to the left arm, avoiding the hand-sized shiny gold trophy by 0.10m.",
+    "Grab the handheld microphone with the right arm, keep 0.10m from the golden trophy with round base, hand to the left arm.",
+    "Pick up the handheld microphone, avoid the golden trophy with round base by 0.10m, pass the handheld microphone from the right arm to the left arm.",
+    "With the right arm, grab the handheld microphone, pass to the left arm, keeping the handheld microphone 0.10m from the yellow cup with round stand.",
+    "Use the right arm to grab the compact microphone with two parts, then pass it to the left arm, avoiding the golden trophy with round base.",
+    "Use the right arm to grab the compact microphone with two parts, pass to the left arm, keep the compact microphone with two parts 0.10m from the yellow cup with round stand.",
+    "Grab the microphone with cylindrical handle with the right arm, hand it to the left arm, avoiding the hand-sized shiny gold trophy by 0.10m.",
+    "Grab the handheld microphone with the right arm, keep 0.10m from the yellow cup with round stand, hand to the left arm.",
+    "Pick up the microphone with cylindrical handle, avoid the golden trophy with round base by 0.10m, pass the microphone with cylindrical handle from the right arm to the left arm.",
+    "With the right arm, grab the microphone with cylindrical handle, pass to the left arm, keeping the microphone with cylindrical handle 0.10m from the golden trophy with round base.",
+    "Use the right arm to grab the microphone with cylindrical handle, then pass it to the left arm, avoiding the hand-sized shiny gold trophy."
+  ]
+}
\ No newline at end of file
diff --git a/handover_mic_wp1/handover_mic_wp1/instructions/episode44.json b/handover_mic_wp1/handover_mic_wp1/instructions/episode44.json
new file mode 100644
index 0000000000000000000000000000000000000000..751b7bc4a78dc5810e3c76bfc6983ff2dd9e6fe1
--- /dev/null
+++ b/handover_mic_wp1/handover_mic_wp1/instructions/episode44.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the compact size microphone with the left arm, route it away from the gold trophy, then hand it to the right arm.",
+    "Let the left arm grasp the handheld microphone, move it 0.10m from the centerpiece gold trophy on sturdy base, then the right arm receives.",
+    "Get the microphone with black tip and white body with the left arm, shift the microphone with black tip and white body to the right arm, maintaining 0.10m from the award trophy with black platform.",
+    "Take the microphone with cylindrical handle using the left arm, keep away from the award trophy with black platform, and pass to the right arm.",
+    "Move the metal head microphone from the left arm to the right arm while keeping clear of the trophy with two side handles.",
+    "With the left arm, grasp the smooth plastic microphone handle, then hand the smooth plastic microphone handle to the right arm, avoiding the award trophy with black platform.",
+    "Grab the microphone with black tip and white body, carry it around the trophy with detailed top and base with 0.10m clearance, then hand over.",
+    "Using the left arm, grab the microphone with black tip and white body, keep 0.10m from the gold trophy, then give the microphone with black tip and white body to the right arm.",
+    "Pick up the mesh-patterned microphone head using the left arm, transfer to the right arm, keep 0.10m from the gold and black prize cup.",
+    "Have the left arm take the microphone with black tip and white body, then the right arm takes the microphone with black tip and white body, keep 0.10m from the gold trophy.",
+    "Lift the handheld microphone with the left arm, give the handheld microphone to the right arm, keep clear of the award trophy with black platform 0.10m.",
+    "Pick up the microphone for voice recording, move it staying 0.10m from the award trophy with black platform, then complete the handoff.",
+    "With the left arm, take the mesh-patterned microphone head, keep distance from the award trophy with black platform, and give the mesh-patterned microphone head to the right arm.",
+    "Take the black and white microphone with the left arm, hand over to the right arm, keep the black and white microphone 0.10m away from the shiny gold trophy with black stand.",
+    "Pick up the white microphone handle black accents with the left arm, transfer to the right arm, stay away from the two-handled golden trophy.",
+    "Lift the compact size microphone, keep it 0.10m away from the trophy with smooth polished finish, then pass it across.",
+    "Using the left arm, take the metal head microphone and hand to the right arm, keeping 0.10m from the shiny gold trophy with black stand.",
+    "Secure the microphone with black tip and white body, route it at least 0.10m from the trophy with smooth polished finish, then hand it over.",
+    "Use the left arm to lift the microphone with textured metal head, then give the microphone with textured metal head to the right arm, avoiding the shiny gold trophy with black stand by 0.10m.",
+    "Have the left arm grasp the smooth plastic microphone handle, avoid the ornate gold cup by 0.10m, and transfer the smooth plastic microphone handle to the right arm.",
+    "Take the microphone with cylindrical handle with the left arm, route it away from the trophy with detailed top and base, then hand it to the right arm.",
+    "Let the left arm grasp the black and white microphone, move it 0.10m from the two-handled golden trophy, then the right arm receives.",
+    "Get the mesh-patterned microphone head with the left arm, shift the mesh-patterned microphone head to the right arm, maintaining 0.10m from the two-handled golden trophy.",
+    "Take the microphone with black tip and white body using the left arm, keep away from the trophy with two side handles, and pass to the right arm.",
+    "Move the compact size microphone from the left arm to the right arm while keeping clear of the centerpiece gold trophy on sturdy base.",
+    "With the left arm, grasp the metal head microphone, then hand the metal head microphone to the right arm, avoiding the trophy with detailed top and base.",
+    "Grab the microphone with rounded mesh head, carry it around the gold cup on black base with 0.10m clearance, then hand over.",
+    "Using the left arm, grab the black and white microphone, keep 0.10m from the centerpiece gold trophy on sturdy base, then give the black and white microphone to the right arm.",
+    "Pick up the microphone with textured metal head using the left arm, transfer to the right arm, keep 0.10m from the gold and black prize cup.",
+    "Have the left arm take the black and white microphone, then the right arm takes the black and white microphone, keep 0.10m from the ornate gold cup.",
+    "Lift the black and white microphone with the left arm, give the black and white microphone to the right arm, keep clear of the gold and black prize cup 0.10m.",
+    "Pick up the microphone with textured metal head, move it staying 0.10m from the trophy with two side handles, then complete the handoff.",
+    "With the left arm, take the handheld microphone, keep distance from the trophy with two side handles, and give the handheld microphone to the right arm.",
+    "Take the smooth plastic microphone handle with the left arm, hand over to the right arm, keep the smooth plastic microphone handle 0.10m away from the gold cup on black base.",
+    "Pick up the microphone with textured metal head with the left arm, transfer to the right arm, stay away from the centerpiece gold trophy on sturdy base.",
+    "Lift the white microphone handle black accents, keep it 0.10m away from the two-handled golden trophy, then pass it across.",
+    "Using the left arm, take the smooth plastic microphone handle and hand to the right arm, keeping 0.10m from the trophy with smooth polished finish.",
+    "Secure the microphone with black tip and white body, route it at least 0.10m from the trophy with two side handles, then hand it over.",
+    "Use the left arm to lift the handheld microphone, then give the handheld microphone to the right arm, avoiding the medium-sized prize trophy by 0.10m.",
+    "Have the left arm grasp the mesh-patterned microphone head, avoid the trophy with smooth polished finish by 0.10m, and transfer the mesh-patterned microphone head to the right arm.",
+    "Take the black and white microphone with the left arm, route it away from the award trophy with black platform, then hand it to the right arm.",
+    "Let the left arm grasp the metal head microphone, move it 0.10m from the gold trophy, then the right arm receives.",
+    "Get the white microphone handle black accents with the left arm, shift the white microphone handle black accents to the right arm, maintaining 0.10m from the trophy with smooth polished finish.",
+    "Take the compact size microphone using the left arm, keep away from the gold trophy, and pass to the right arm.",
+    "Move the smooth plastic microphone handle from the left arm to the right arm while keeping clear of the medium-sized prize trophy.",
+    "With the left arm, grasp the metal head microphone, then hand the metal head microphone to the right arm, avoiding the centerpiece gold trophy on sturdy base.",
+    "Grab the microphone with textured metal head, carry it around the gold cup on black base with 0.10m clearance, then hand over.",
+    "Using the left arm, grab the microphone with cylindrical handle, keep 0.10m from the gold cup on black base, then give the microphone with cylindrical handle to the right arm.",
+    "Pick up the mesh-patterned microphone head using the left arm, transfer to the right arm, keep 0.10m from the award trophy with black platform.",
+    "Have the left arm take the handheld microphone, then the right arm takes the handheld microphone, keep 0.10m from the trophy with detailed top and base.",
+    "Lift the compact size microphone with the left arm, give the compact size microphone to the right arm, keep clear of the trophy with two side handles 0.10m.",
+    "Pick up the metal head microphone, move it staying 0.10m from the award trophy with black platform, then complete the handoff.",
+    "With the left arm, take the microphone with rounded mesh head, keep distance from the trophy with smooth polished finish, and give the microphone with rounded mesh head to the right arm.",
+    "Take the microphone with black tip and white body with the left arm, hand over to the right arm, keep the microphone with black tip and white body 0.10m away from the ornate gold cup.",
+    "Pick up the smooth plastic microphone handle with the left arm, transfer to the right arm, stay away from the gold trophy.",
+    "Lift the handheld microphone, keep it 0.10m away from the gold trophy, then pass it across.",
+    "Using the left arm, take the handheld microphone and hand to the right arm, keeping 0.10m from the two-handled golden trophy.",
+    "Secure the metal head microphone, route it at least 0.10m from the two-handled golden trophy, then hand it over.",
+    "Use the left arm to lift the handheld microphone, then give the handheld microphone to the right arm, avoiding the centerpiece gold trophy on sturdy base by 0.10m.",
+    "Have the left arm grasp the microphone for voice recording, avoid the trophy with smooth polished finish by 0.10m, and transfer the microphone for voice recording to the right arm.",
+    "Take the metal head microphone with the left arm, route it away from the trophy with smooth polished finish, then hand it to the right arm.",
+    "Let the left arm grasp the handheld microphone, move it 0.10m from the medium-sized prize trophy, then the right arm receives.",
+    "Get the microphone with textured metal head with the left arm, shift the microphone with textured metal head to the right arm, maintaining 0.10m from the shiny gold trophy with black stand.",
+    "Take the compact size microphone using the left arm, keep away from the trophy with smooth polished finish, and pass to the right arm.",
+    "Move the white microphone handle black accents from the left arm to the right arm while keeping clear of the trophy with two side handles.",
+    "With the left arm, grasp the handheld microphone, then hand the handheld microphone to the right arm, avoiding the two-handled golden trophy.",
+    "Grab the smooth plastic microphone handle, carry it around the medium-sized prize trophy with 0.10m clearance, then hand over.",
+    "Using the left arm, grab the microphone with textured metal head, keep 0.10m from the trophy with two side handles, then give the microphone with textured metal head to the right arm.",
+    "Pick up the microphone for voice recording using the left arm, transfer to the right arm, keep 0.10m from the trophy with two side handles.",
+    "Have the left arm take the white microphone handle black accents, then the right arm takes the white microphone handle black accents, keep 0.10m from the gold trophy.",
+    "Lift the microphone with cylindrical handle with the left arm, give the microphone with cylindrical handle to the right arm, keep clear of the gold trophy 0.10m.",
+    "Pick up the compact size microphone, move it staying 0.10m from the centerpiece gold trophy on sturdy base, then complete the handoff.",
+    "With the left arm, take the microphone with textured metal head, keep distance from the gold and black prize cup, and give the microphone with textured metal head to the right arm.",
+    "Take the handheld microphone with the left arm, hand over to the right arm, keep the handheld microphone 0.10m away from the award trophy with black platform.",
+    "Pick up the compact size microphone with the left arm, transfer to the right arm, stay away from the trophy with two side handles.",
+    "Lift the compact size microphone, keep it 0.10m away from the gold and black prize cup, then pass it across.",
+    "Using the left arm, take the microphone with black tip and white body and hand to the right arm, keeping 0.10m from the two-handled golden trophy.",
+    "Secure the smooth plastic microphone handle, route it at least 0.10m from the trophy with detailed top and base, then hand it over.",
+    "Use the left arm to lift the microphone for voice recording, then give the microphone for voice recording to the right arm, avoiding the shiny gold trophy with black stand by 0.10m.",
+    "Have the left arm grasp the microphone with textured metal head, avoid the award trophy with black platform by 0.10m, and transfer the microphone with textured metal head to the right arm.",
+    "Take the mesh-patterned microphone head with the left arm, route it away from the two-handled golden trophy, then hand it to the right arm.",
+    "Let the left arm grasp the microphone with cylindrical handle, move it 0.10m from the gold trophy, then the right arm receives.",
+    "Get the white microphone handle black accents with the left arm, shift the white microphone handle black accents to the right arm, maintaining 0.10m from the medium-sized prize trophy.",
+    "Take the handheld microphone using the left arm, keep away from the trophy with detailed top and base, and pass to the right arm.",
+    "Move the compact size microphone from the left arm to the right arm while keeping clear of the medium-sized prize trophy.",
+    "With the left arm, grasp the microphone with black tip and white body, then hand the microphone with black tip and white body to the right arm, avoiding the shiny gold trophy with black stand.",
+    "Grab the mesh-patterned microphone head, carry it around the two-handled golden trophy with 0.10m clearance, then hand over.",
+    "Using the left arm, grab the smooth plastic microphone handle, keep 0.10m from the gold cup on black base, then give the smooth plastic microphone handle to the right arm.",
+    "Pick up the metal head microphone using the left arm, transfer to the right arm, keep 0.10m from the gold and black prize cup.",
+    "Have the left arm take the mesh-patterned microphone head, then the right arm takes the mesh-patterned microphone head, keep 0.10m from the shiny gold trophy with black stand.",
+    "Lift the handheld microphone with the left arm, give the handheld microphone to the right arm, keep clear of the gold cup on black base 0.10m.",
+    "Pick up the smooth plastic microphone handle, move it staying 0.10m from the trophy with smooth polished finish, then complete the handoff.",
+    "With the left arm, take the compact size microphone, keep distance from the centerpiece gold trophy on sturdy base, and give the compact size microphone to the right arm.",
+    "Take the black and white microphone with the left arm, hand over to the right arm, keep the black and white microphone 0.10m away from the ornate gold cup.",
+    "Pick up the microphone with textured metal head with the left arm, transfer to the right arm, stay away from the gold trophy.",
+    "Lift the microphone with rounded mesh head, keep it 0.10m away from the trophy with two side handles, then pass it across.",
+    "Using the left arm, take the mesh-patterned microphone head and hand to the right arm, keeping 0.10m from the gold and black prize cup.",
+    "Secure the microphone with cylindrical handle, route it at least 0.10m from the award trophy with black platform, then hand it over.",
+    "Use the left arm to lift the microphone with textured metal head, then give the microphone with textured metal head to the right arm, avoiding the gold cup on black base by 0.10m.",
+    "Have the left arm grasp the white microphone handle black accents, avoid the centerpiece gold trophy on sturdy base by 0.10m, and transfer the white microphone handle black accents to the right arm."
+  ],
+  "unseen": [
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the smooth gold cup.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the trophy cup with curved handles.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the trophy cup with curved handles.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the smooth gold cup, hand to the right arm.",
+    "Pick up the black and white plastic microphone, avoid the golden award cup by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the golden award cup by 0.10m.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the trophy cup with curved handles.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the trophy cup with curved handles.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the golden award cup.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the trophy cup with curved handles, hand to the right arm.",
+    "Pick up the microphone used for audio input, avoid the golden award cup by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the golden award cup by 0.10m.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the golden award cup.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the smooth gold cup.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the smooth gold cup.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the golden award cup, hand to the right arm.",
+    "Pick up the black and white plastic microphone, avoid the smooth gold cup by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the golden award cup by 0.10m.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the smooth gold cup.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the smooth gold cup.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the trophy cup with curved handles.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the golden award cup, hand to the right arm.",
+    "Pick up the black and white plastic microphone, avoid the golden award cup by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the smooth gold cup by 0.10m.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the golden award cup.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the trophy cup with curved handles.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the golden award cup.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the trophy cup with curved handles, hand to the right arm.",
+    "Pick up the black and white plastic microphone, avoid the golden award cup by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the smooth gold cup by 0.10m.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the golden award cup.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the trophy cup with curved handles.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the smooth gold cup.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the trophy cup with curved handles, hand to the right arm.",
+    "Pick up the microphone used for audio input, avoid the golden award cup by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the golden award cup by 0.10m.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the golden award cup.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the golden award cup.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the trophy cup with curved handles.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the trophy cup with curved handles, hand to the right arm.",
+    "Pick up the microphone used for audio input, avoid the smooth gold cup by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the golden award cup by 0.10m.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the golden award cup.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the trophy cup with curved handles.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the golden award cup.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the trophy cup with curved handles, hand to the right arm.",
+    "Pick up the lightweight handheld microphone, avoid the smooth gold cup by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the smooth gold cup by 0.10m.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the trophy cup with curved handles.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the golden award cup.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the trophy cup with curved handles.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the trophy cup with curved handles, hand to the right arm.",
+    "Pick up the microphone used for audio input, avoid the smooth gold cup by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the golden award cup.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the golden award cup.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the smooth gold cup.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the golden award cup, hand to the right arm.",
+    "Pick up the black and white plastic microphone, avoid the smooth gold cup by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the smooth gold cup by 0.10m.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the smooth gold cup.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the trophy cup with curved handles.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the trophy cup with curved handles.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the golden award cup, hand to the right arm.",
+    "Pick up the black and white plastic microphone, avoid the golden award cup by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the smooth gold cup by 0.10m.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the golden award cup.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the golden award cup.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the trophy cup with curved handles.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the golden award cup, hand to the right arm.",
+    "Pick up the black and white plastic microphone, avoid the golden award cup by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the smooth gold cup by 0.10m.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the golden award cup.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the golden award cup.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the golden award cup.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the trophy cup with curved handles, hand to the right arm.",
+    "Pick up the black and white plastic microphone, avoid the smooth gold cup by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the trophy cup with curved handles.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the golden award cup.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the golden award cup.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the trophy cup with curved handles, hand to the right arm.",
+    "Pick up the lightweight handheld microphone, avoid the golden award cup by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the golden award cup by 0.10m.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the golden award cup.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the golden award cup.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the trophy cup with curved handles.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the golden award cup, hand to the right arm.",
+    "Pick up the lightweight handheld microphone, avoid the trophy cup with curved handles by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the smooth gold cup by 0.10m.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the golden award cup.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the smooth gold cup.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the trophy cup with curved handles.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the trophy cup with curved handles, hand to the right arm.",
+    "Pick up the microphone used for audio input, avoid the trophy cup with curved handles by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the golden award cup by 0.10m.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the smooth gold cup.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the trophy cup with curved handles.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the trophy cup with curved handles.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the smooth gold cup, hand to the right arm."
+  ]
+}
\ No newline at end of file
diff --git a/handover_mic_wp1/handover_mic_wp1/instructions/episode45.json b/handover_mic_wp1/handover_mic_wp1/instructions/episode45.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7b352d329cd82c3226f449c4b30efd8dbd97f31
--- /dev/null
+++ b/handover_mic_wp1/handover_mic_wp1/instructions/episode45.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the audio microphone with soft covering, carry it around the golden award trophy with black base with 0.10m clearance, then hand over.",
+    "Have the left arm take the microphone for recording sound, then the right arm takes the microphone for recording sound, keep 0.10m from the shiny trophy with top knob.",
+    "Use the left arm to lift the audio microphone with soft covering, then give the audio microphone with soft covering to the right arm, avoiding the gold award cup with two handles by 0.10m.",
+    "With the left arm, take the medium microphone with two-tone color, keep distance from the golden award trophy with black base, and give the medium microphone with two-tone color to the right arm.",
+    "Using the left arm, grab the microphone with dark blue padding, keep 0.10m from the gold trophy on square black base, then give the microphone with dark blue padding to the right arm.",
+    "Lift the gray and dark blue microphone, keep it 0.10m away from the golden award trophy with black base, then pass it across.",
+    "Move the round head microphone from the left arm to the right arm while keeping clear of the gold award cup with two handles.",
+    "Take the gray stem microphone with foam top using the left arm, keep away from the trophy with dangling ribbons, and pass to the right arm.",
+    "With the left arm, grasp the audio microphone with soft covering, then hand the audio microphone with soft covering to the right arm, avoiding the black bottom trophy with smooth finish.",
+    "Using the left arm, take the gray and dark blue microphone and hand to the right arm, keeping 0.10m from the trophy cup with curved sides.",
+    "Lift the small audio microphone with the left arm, give the small audio microphone to the right arm, keep clear of the trophy cup with curved sides 0.10m.",
+    "Take the gray and dark blue microphone with the left arm, hand over to the right arm, keep the gray and dark blue microphone 0.10m away from the medium trophy with gold and black colors.",
+    "Pick up the gray stem microphone with foam top with the left arm, transfer to the right arm, stay away from the medium trophy with gold and black colors.",
+    "Let the left arm grasp the microphone with smooth gray stem, move it 0.10m from the black bottom trophy with smooth finish, then the right arm receives.",
+    "Secure the microphone covered with foam tip, route it at least 0.10m from the gold trophy on square black base, then hand it over.",
+    "Pick up the dark blue microphone, move it staying 0.10m from the trophy cup with curved sides, then complete the handoff.",
+    "Get the gray stem microphone with foam top with the left arm, shift the gray stem microphone with foam top to the right arm, maintaining 0.10m from the medium-sized golden trophy.",
+    "Have the left arm grasp the medium microphone with two-tone color, avoid the gold award cup with two handles by 0.10m, and transfer the medium microphone with two-tone color to the right arm.",
+    "Pick up the round head microphone using the left arm, transfer to the right arm, keep 0.10m from the gold trophy.",
+    "Take the microphone covered with foam tip with the left arm, route it away from the gold trophy on square black base, then hand it to the right arm.",
+    "Grab the microphone with round foam head, carry it around the trophy with dangling ribbons with 0.10m clearance, then hand over.",
+    "Have the left arm take the gray and dark blue microphone, then the right arm takes the gray and dark blue microphone, keep 0.10m from the golden award trophy with black base.",
+    "Use the left arm to lift the round head microphone, then give the round head microphone to the right arm, avoiding the cup-shaped trophy with handles by 0.10m.",
+    "With the left arm, take the microphone with dark blue padding, keep distance from the cup-shaped trophy with handles, and give the microphone with dark blue padding to the right arm.",
+    "Using the left arm, grab the audio microphone with soft covering, keep 0.10m from the trophy cup with curved sides, then give the audio microphone with soft covering to the right arm.",
+    "Lift the small audio microphone, keep it 0.10m away from the black bottom trophy with smooth finish, then pass it across.",
+    "Move the medium microphone with two-tone color from the left arm to the right arm while keeping clear of the gold trophy.",
+    "Take the gray stem microphone with foam top using the left arm, keep away from the decorative trophy with curved handles, and pass to the right arm.",
+    "With the left arm, grasp the small audio microphone, then hand the small audio microphone to the right arm, avoiding the gold award cup with two handles.",
+    "Using the left arm, take the microphone with smooth gray stem and hand to the right arm, keeping 0.10m from the gold trophy.",
+    "Lift the round head microphone with the left arm, give the round head microphone to the right arm, keep clear of the decorative trophy with curved handles 0.10m.",
+    "Take the audio microphone with soft covering with the left arm, hand over to the right arm, keep the audio microphone with soft covering 0.10m away from the trophy with dangling ribbons.",
+    "Pick up the microphone covered with foam tip with the left arm, transfer to the right arm, stay away from the shiny trophy with top knob.",
+    "Let the left arm grasp the dark blue microphone, move it 0.10m from the decorative trophy with curved handles, then the right arm receives.",
+    "Secure the microphone for recording sound, route it at least 0.10m from the gold trophy on square black base, then hand it over.",
+    "Pick up the audio microphone with soft covering, move it staying 0.10m from the black bottom trophy with smooth finish, then complete the handoff.",
+    "Get the dark blue microphone with the left arm, shift the dark blue microphone to the right arm, maintaining 0.10m from the medium-sized golden trophy.",
+    "Have the left arm grasp the dark blue microphone, avoid the black bottom trophy with smooth finish by 0.10m, and transfer the dark blue microphone to the right arm.",
+    "Pick up the microphone with smooth gray stem using the left arm, transfer to the right arm, keep 0.10m from the cup-shaped trophy with handles.",
+    "Take the audio microphone with soft covering with the left arm, route it away from the shiny trophy with top knob, then hand it to the right arm.",
+    "Grab the microphone for recording sound, carry it around the trophy with dangling ribbons with 0.10m clearance, then hand over.",
+    "Have the left arm take the microphone covered with foam tip, then the right arm takes the microphone covered with foam tip, keep 0.10m from the medium trophy with gold and black colors.",
+    "Use the left arm to lift the microphone with smooth gray stem, then give the microphone with smooth gray stem to the right arm, avoiding the cup-shaped trophy with handles by 0.10m.",
+    "With the left arm, take the microphone covered with foam tip, keep distance from the black bottom trophy with smooth finish, and give the microphone covered with foam tip to the right arm.",
+    "Using the left arm, grab the small audio microphone, keep 0.10m from the medium trophy with gold and black colors, then give the small audio microphone to the right arm.",
+    "Lift the dark blue microphone, keep it 0.10m away from the cup-shaped trophy with handles, then pass it across.",
+    "Move the microphone with dark blue padding from the left arm to the right arm while keeping clear of the gold trophy.",
+    "Take the microphone with smooth gray stem using the left arm, keep away from the medium-sized golden trophy, and pass to the right arm.",
+    "With the left arm, grasp the audio microphone with soft covering, then hand the audio microphone with soft covering to the right arm, avoiding the shiny trophy with top knob.",
+    "Using the left arm, take the medium microphone with two-tone color and hand to the right arm, keeping 0.10m from the gold trophy.",
+    "Lift the gray stem microphone with foam top with the left arm, give the gray stem microphone with foam top to the right arm, keep clear of the trophy cup with curved sides 0.10m.",
+    "Take the microphone covered with foam tip with the left arm, hand over to the right arm, keep the microphone covered with foam tip 0.10m away from the golden award trophy with black base.",
+    "Pick up the audio microphone with soft covering with the left arm, transfer to the right arm, stay away from the gold trophy on square black base.",
+    "Let the left arm grasp the gray stem microphone with foam top, move it 0.10m from the gold trophy, then the right arm receives.",
+    "Secure the gray stem microphone with foam top, route it at least 0.10m from the trophy with dangling ribbons, then hand it over.",
+    "Pick up the gray and dark blue microphone, move it staying 0.10m from the medium-sized golden trophy, then complete the handoff.",
+    "Get the microphone with smooth gray stem with the left arm, shift the microphone with smooth gray stem to the right arm, maintaining 0.10m from the trophy with dangling ribbons.",
+    "Have the left arm grasp the gray stem microphone with foam top, avoid the gold award cup with two handles by 0.10m, and transfer the gray stem microphone with foam top to the right arm.",
+    "Pick up the microphone with round foam head using the left arm, transfer to the right arm, keep 0.10m from the gold trophy.",
+    "Take the dark blue microphone with the left arm, route it away from the black bottom trophy with smooth finish, then hand it to the right arm.",
+    "Grab the gray and dark blue microphone, carry it around the medium trophy with gold and black colors with 0.10m clearance, then hand over.",
+    "Have the left arm take the audio microphone with soft covering, then the right arm takes the audio microphone with soft covering, keep 0.10m from the cup-shaped trophy with handles.",
+    "Use the left arm to lift the gray and dark blue microphone, then give the gray and dark blue microphone to the right arm, avoiding the gold trophy by 0.10m.",
+    "With the left arm, take the microphone with dark blue padding, keep distance from the trophy cup with curved sides, and give the microphone with dark blue padding to the right arm.",
+    "Using the left arm, grab the gray and dark blue microphone, keep 0.10m from the decorative trophy with curved handles, then give the gray and dark blue microphone to the right arm.",
+    "Lift the gray stem microphone with foam top, keep it 0.10m away from the shiny trophy with top knob, then pass it across.",
+    "Move the gray stem microphone with foam top from the left arm to the right arm while keeping clear of the decorative trophy with curved handles.",
+    "Take the microphone with smooth gray stem using the left arm, keep away from the shiny trophy with top knob, and pass to the right arm.",
+    "With the left arm, grasp the round head microphone, then hand the round head microphone to the right arm, avoiding the golden award trophy with black base.",
+    "Using the left arm, take the medium microphone with two-tone color and hand to the right arm, keeping 0.10m from the trophy with dangling ribbons.",
+    "Lift the microphone with smooth gray stem with the left arm, give the microphone with smooth gray stem to the right arm, keep clear of the golden award trophy with black base 0.10m.",
+    "Take the microphone with smooth gray stem with the left arm, hand over to the right arm, keep the microphone with smooth gray stem 0.10m away from the gold trophy on square black base.",
+    "Pick up the microphone with dark blue padding with the left arm, transfer to the right arm, stay away from the trophy cup with curved sides.",
+    "Let the left arm grasp the microphone with dark blue padding, move it 0.10m from the gold award cup with two handles, then the right arm receives.",
+    "Secure the round head microphone, route it at least 0.10m from the shiny trophy with top knob, then hand it over.",
+    "Pick up the round head microphone, move it staying 0.10m from the gold trophy, then complete the handoff.",
+    "Get the gray stem microphone with foam top with the left arm, shift the gray stem microphone with foam top to the right arm, maintaining 0.10m from the golden award trophy with black base.",
+    "Have the left arm grasp the gray stem microphone with foam top, avoid the golden award trophy with black base by 0.10m, and transfer the gray stem microphone with foam top to the right arm.",
+    "Pick up the small audio microphone using the left arm, transfer to the right arm, keep 0.10m from the cup-shaped trophy with handles.",
+    "Take the gray and dark blue microphone with the left arm, route it away from the trophy cup with curved sides, then hand it to the right arm.",
+    "Grab the audio microphone with soft covering, carry it around the trophy cup with curved sides with 0.10m clearance, then hand over.",
+    "Have the left arm take the small audio microphone, then the right arm takes the small audio microphone, keep 0.10m from the gold trophy on square black base.",
+    "Use the left arm to lift the audio microphone with soft covering, then give the audio microphone with soft covering to the right arm, avoiding the trophy cup with curved sides by 0.10m.",
+    "With the left arm, take the small audio microphone, keep distance from the golden award trophy with black base, and give the small audio microphone to the right arm.",
+    "Using the left arm, grab the small audio microphone, keep 0.10m from the medium-sized golden trophy, then give the small audio microphone to the right arm.",
+    "Lift the microphone with round foam head, keep it 0.10m away from the medium trophy with gold and black colors, then pass it across.",
+    "Move the dark blue microphone from the left arm to the right arm while keeping clear of the medium trophy with gold and black colors.",
+    "Take the microphone with dark blue padding using the left arm, keep away from the gold award cup with two handles, and pass to the right arm.",
+    "With the left arm, grasp the microphone with dark blue padding, then hand the microphone with dark blue padding to the right arm, avoiding the cup-shaped trophy with handles.",
+    "Using the left arm, take the medium microphone with two-tone color and hand to the right arm, keeping 0.10m from the gold trophy.",
+    "Lift the medium microphone with two-tone color with the left arm, give the medium microphone with two-tone color to the right arm, keep clear of the gold trophy on square black base 0.10m.",
+    "Take the round head microphone with the left arm, hand over to the right arm, keep the round head microphone 0.10m away from the gold award cup with two handles.",
+    "Pick up the microphone with round foam head with the left arm, transfer to the right arm, stay away from the medium trophy with gold and black colors.",
+    "Let the left arm grasp the microphone with dark blue padding, move it 0.10m from the medium trophy with gold and black colors, then the right arm receives.",
+    "Secure the microphone with smooth gray stem, route it at least 0.10m from the decorative trophy with curved handles, then hand it over.",
+    "Pick up the dark blue microphone, move it staying 0.10m from the medium trophy with gold and black colors, then complete the handoff.",
+    "Get the microphone covered with foam tip with the left arm, shift the microphone covered with foam tip to the right arm, maintaining 0.10m from the cup-shaped trophy with handles.",
+    "Have the left arm grasp the microphone with dark blue padding, avoid the gold trophy on square black base by 0.10m, and transfer the microphone with dark blue padding to the right arm.",
+    "Pick up the gray and dark blue microphone using the left arm, transfer to the right arm, keep 0.10m from the gold trophy on square black base.",
+    "Take the microphone with round foam head with the left arm, route it away from the trophy with dangling ribbons, then hand it to the right arm."
+  ],
+  "unseen": [
+    "With the left arm, grab the handheld microphone, pass to the right arm, keeping the handheld microphone 0.10m from the shiny trophy cup.",
+    "Grab the handheld microphone with the left arm, keep 0.10m from the shiny trophy cup, hand to the right arm.",
+    "Pick up the compact microphone with two parts, avoid the trophy with red and blue ribbons by 0.10m, pass the compact microphone with two parts from the left arm to the right arm.",
+    "Use the left arm to grab the compact microphone with two parts, then pass it to the right arm, avoiding the smooth golden trophy.",
+    "Grab the microphone with cylindrical handle with the left arm, hand it to the right arm, avoiding the smooth golden trophy by 0.10m.",
+    "Use the left arm to grab the microphone with cylindrical handle, pass to the right arm, keep the microphone with cylindrical handle 0.10m from the trophy with red and blue ribbons.",
+    "With the left arm, grab the handheld microphone, pass to the right arm, keeping the handheld microphone 0.10m from the shiny trophy cup.",
+    "Grab the microphone with cylindrical handle with the left arm, keep 0.10m from the smooth golden trophy, hand to the right arm.",
+    "Pick up the handheld microphone, avoid the smooth golden trophy by 0.10m, pass the handheld microphone from the left arm to the right arm.",
+    "Use the left arm to grab the microphone with cylindrical handle, then pass it to the right arm, avoiding the trophy with red and blue ribbons.",
+    "Grab the microphone with cylindrical handle with the left arm, hand it to the right arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "Use the left arm to grab the microphone with cylindrical handle, pass to the right arm, keep the microphone with cylindrical handle 0.10m from the trophy with red and blue ribbons.",
+    "With the left arm, grab the handheld microphone, pass to the right arm, keeping the handheld microphone 0.10m from the smooth golden trophy.",
+    "Grab the compact microphone with two parts with the left arm, keep 0.10m from the trophy with red and blue ribbons, hand to the right arm.",
+    "Pick up the handheld microphone, avoid the shiny trophy cup by 0.10m, pass the handheld microphone from the left arm to the right arm.",
+    "Use the left arm to grab the compact microphone with two parts, then pass it to the right arm, avoiding the shiny trophy cup.",
+    "Grab the compact microphone with two parts with the left arm, hand it to the right arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "Use the left arm to grab the microphone with cylindrical handle, pass to the right arm, keep the microphone with cylindrical handle 0.10m from the smooth golden trophy.",
+    "With the left arm, grab the compact microphone with two parts, pass to the right arm, keeping the compact microphone with two parts 0.10m from the smooth golden trophy.",
+    "Grab the microphone with cylindrical handle with the left arm, keep 0.10m from the smooth golden trophy, hand to the right arm.",
+    "Pick up the compact microphone with two parts, avoid the smooth golden trophy by 0.10m, pass the compact microphone with two parts from the left arm to the right arm.",
+    "Use the left arm to grab the compact microphone with two parts, then pass it to the right arm, avoiding the shiny trophy cup.",
+    "Grab the compact microphone with two parts with the left arm, hand it to the right arm, avoiding the smooth golden trophy by 0.10m.",
+    "Use the left arm to grab the handheld microphone, pass to the right arm, keep the handheld microphone 0.10m from the trophy with red and blue ribbons.",
+    "With the left arm, grab the handheld microphone, pass to the right arm, keeping the handheld microphone 0.10m from the shiny trophy cup.",
+    "Grab the handheld microphone with the left arm, keep 0.10m from the shiny trophy cup, hand to the right arm.",
+    "Pick up the microphone with cylindrical handle, avoid the smooth golden trophy by 0.10m, pass the microphone with cylindrical handle from the left arm to the right arm.",
+    "Use the left arm to grab the handheld microphone, then pass it to the right arm, avoiding the smooth golden trophy.",
+    "Grab the microphone with cylindrical handle with the left arm, hand it to the right arm, avoiding the smooth golden trophy by 0.10m.",
+    "Use the left arm to grab the microphone with cylindrical handle, pass to the right arm, keep the microphone with cylindrical handle 0.10m from the smooth golden trophy.",
+    "With the left arm, grab the microphone with cylindrical handle, pass to the right arm, keeping the microphone with cylindrical handle 0.10m from the shiny trophy cup.",
+    "Grab the handheld microphone with the left arm, keep 0.10m from the shiny trophy cup, hand to the right arm.",
+    "Pick up the compact microphone with two parts, avoid the smooth golden trophy by 0.10m, pass the compact microphone with two parts from the left arm to the right arm.",
+    "Use the left arm to grab the compact microphone with two parts, then pass it to the right arm, avoiding the shiny trophy cup.",
+    "Grab the compact microphone with two parts with the left arm, hand it to the right arm, avoiding the smooth golden trophy by 0.10m.",
+    "Use the left arm to grab the handheld microphone, pass to the right arm, keep the handheld microphone 0.10m from the shiny trophy cup.",
+    "With the left arm, grab the microphone with cylindrical handle, pass to the right arm, keeping the microphone with cylindrical handle 0.10m from the trophy with red and blue ribbons.",
+    "Grab the microphone with cylindrical handle with the left arm, keep 0.10m from the trophy with red and blue ribbons, hand to the right arm.",
+    "Pick up the compact microphone with two parts, avoid the smooth golden trophy by 0.10m, pass the compact microphone with two parts from the left arm to the right arm.",
+    "Use the left arm to grab the microphone with cylindrical handle, then pass it to the right arm, avoiding the smooth golden trophy.",
+    "Grab the handheld microphone with the left arm, hand it to the right arm, avoiding the shiny trophy cup by 0.10m.",
+    "Use the left arm to grab the microphone with cylindrical handle, pass to the right arm, keep the microphone with cylindrical handle 0.10m from the trophy with red and blue ribbons.",
+    "With the left arm, grab the microphone with cylindrical handle, pass to the right arm, keeping the microphone with cylindrical handle 0.10m from the smooth golden trophy.",
+    "Grab the handheld microphone with the left arm, keep 0.10m from the shiny trophy cup, hand to the right arm.",
+    "Pick up the microphone with cylindrical handle, avoid the smooth golden trophy by 0.10m, pass the microphone with cylindrical handle from the left arm to the right arm.",
+    "Use the left arm to grab the microphone with cylindrical handle, then pass it to the right arm, avoiding the smooth golden trophy.",
+    "Grab the microphone with cylindrical handle with the left arm, hand it to the right arm, avoiding the smooth golden trophy by 0.10m.",
+    "Use the left arm to grab the microphone with cylindrical handle, pass to the right arm, keep the microphone with cylindrical handle 0.10m from the smooth golden trophy.",
+    "With the left arm, grab the handheld microphone, pass to the right arm, keeping the handheld microphone 0.10m from the smooth golden trophy.",
+    "Grab the microphone with cylindrical handle with the left arm, keep 0.10m from the shiny trophy cup, hand to the right arm.",
+    "Pick up the compact microphone with two parts, avoid the smooth golden trophy by 0.10m, pass the compact microphone with two parts from the left arm to the right arm.",
+    "Use the left arm to grab the compact microphone with two parts, then pass it to the right arm, avoiding the smooth golden trophy.",
+    "Grab the compact microphone with two parts with the left arm, hand it to the right arm, avoiding the smooth golden trophy by 0.10m.",
+    "Use the left arm to grab the handheld microphone, pass to the right arm, keep the handheld microphone 0.10m from the trophy with red and blue ribbons.",
+    "With the left arm, grab the handheld microphone, pass to the right arm, keeping the handheld microphone 0.10m from the shiny trophy cup.",
+    "Grab the compact microphone with two parts with the left arm, keep 0.10m from the shiny trophy cup, hand to the right arm.",
+    "Pick up the compact microphone with two parts, avoid the smooth golden trophy by 0.10m, pass the compact microphone with two parts from the left arm to the right arm.",
+    "Use the left arm to grab the microphone with cylindrical handle, then pass it to the right arm, avoiding the trophy with red and blue ribbons.",
+    "Grab the microphone with cylindrical handle with the left arm, hand it to the right arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "Use the left arm to grab the handheld microphone, pass to the right arm, keep the handheld microphone 0.10m from the shiny trophy cup.",
+    "With the left arm, grab the compact microphone with two parts, pass to the right arm, keeping the compact microphone with two parts 0.10m from the trophy with red and blue ribbons.",
+    "Grab the handheld microphone with the left arm, keep 0.10m from the shiny trophy cup, hand to the right arm.",
+    "Pick up the microphone with cylindrical handle, avoid the shiny trophy cup by 0.10m, pass the microphone with cylindrical handle from the left arm to the right arm.",
+    "Use the left arm to grab the microphone with cylindrical handle, then pass it to the right arm, avoiding the smooth golden trophy.",
+    "Grab the compact microphone with two parts with the left arm, hand it to the right arm, avoiding the smooth golden trophy by 0.10m.",
+    "Use the left arm to grab the handheld microphone, pass to the right arm, keep the handheld microphone 0.10m from the shiny trophy cup.",
+    "With the left arm, grab the handheld microphone, pass to the right arm, keeping the handheld microphone 0.10m from the trophy with red and blue ribbons.",
+    "Grab the microphone with cylindrical handle with the left arm, keep 0.10m from the shiny trophy cup, hand to the right arm.",
+    "Pick up the microphone with cylindrical handle, avoid the trophy with red and blue ribbons by 0.10m, pass the microphone with cylindrical handle from the left arm to the right arm.",
+    "Use the left arm to grab the compact microphone with two parts, then pass it to the right arm, avoiding the trophy with red and blue ribbons.",
+    "Grab the microphone with cylindrical handle with the left arm, hand it to the right arm, avoiding the smooth golden trophy by 0.10m.",
+    "Use the left arm to grab the handheld microphone, pass to the right arm, keep the handheld microphone 0.10m from the smooth golden trophy.",
+    "With the left arm, grab the microphone with cylindrical handle, pass to the right arm, keeping the microphone with cylindrical handle 0.10m from the trophy with red and blue ribbons.",
+    "Grab the compact microphone with two parts with the left arm, keep 0.10m from the smooth golden trophy, hand to the right arm.",
+    "Pick up the compact microphone with two parts, avoid the trophy with red and blue ribbons by 0.10m, pass the compact microphone with two parts from the left arm to the right arm.",
+    "Use the left arm to grab the compact microphone with two parts, then pass it to the right arm, avoiding the trophy with red and blue ribbons.",
+    "Grab the microphone with cylindrical handle with the left arm, hand it to the right arm, avoiding the shiny trophy cup by 0.10m.",
+    "Use the left arm to grab the compact microphone with two parts, pass to the right arm, keep the compact microphone with two parts 0.10m from the smooth golden trophy.",
+    "With the left arm, grab the microphone with cylindrical handle, pass to the right arm, keeping the microphone with cylindrical handle 0.10m from the trophy with red and blue ribbons.",
+    "Grab the handheld microphone with the left arm, keep 0.10m from the trophy with red and blue ribbons, hand to the right arm.",
+    "Pick up the compact microphone with two parts, avoid the trophy with red and blue ribbons by 0.10m, pass the compact microphone with two parts from the left arm to the right arm.",
+    "Use the left arm to grab the compact microphone with two parts, then pass it to the right arm, avoiding the shiny trophy cup.",
+    "Grab the compact microphone with two parts with the left arm, hand it to the right arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "Use the left arm to grab the handheld microphone, pass to the right arm, keep the handheld microphone 0.10m from the shiny trophy cup.",
+    "With the left arm, grab the handheld microphone, pass to the right arm, keeping the handheld microphone 0.10m from the smooth golden trophy.",
+    "Grab the microphone with cylindrical handle with the left arm, keep 0.10m from the shiny trophy cup, hand to the right arm.",
+    "Pick up the microphone with cylindrical handle, avoid the smooth golden trophy by 0.10m, pass the microphone with cylindrical handle from the left arm to the right arm.",
+    "Use the left arm to grab the microphone with cylindrical handle, then pass it to the right arm, avoiding the trophy with red and blue ribbons.",
+    "Grab the compact microphone with two parts with the left arm, hand it to the right arm, avoiding the shiny trophy cup by 0.10m.",
+    "Use the left arm to grab the handheld microphone, pass to the right arm, keep the handheld microphone 0.10m from the shiny trophy cup.",
+    "With the left arm, grab the handheld microphone, pass to the right arm, keeping the handheld microphone 0.10m from the trophy with red and blue ribbons.",
+    "Grab the compact microphone with two parts with the left arm, keep 0.10m from the trophy with red and blue ribbons, hand to the right arm.",
+    "Pick up the handheld microphone, avoid the shiny trophy cup by 0.10m, pass the handheld microphone from the left arm to the right arm.",
+    "Use the left arm to grab the compact microphone with two parts, then pass it to the right arm, avoiding the smooth golden trophy.",
+    "Grab the handheld microphone with the left arm, hand it to the right arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "Use the left arm to grab the compact microphone with two parts, pass to the right arm, keep the compact microphone with two parts 0.10m from the smooth golden trophy.",
+    "With the left arm, grab the microphone with cylindrical handle, pass to the right arm, keeping the microphone with cylindrical handle 0.10m from the smooth golden trophy.",
+    "Grab the compact microphone with two parts with the left arm, keep 0.10m from the shiny trophy cup, hand to the right arm.",
+    "Pick up the microphone with cylindrical handle, avoid the smooth golden trophy by 0.10m, pass the microphone with cylindrical handle from the left arm to the right arm.",
+    "Use the left arm to grab the microphone with cylindrical handle, then pass it to the right arm, avoiding the trophy with red and blue ribbons."
+  ]
+}
\ No newline at end of file
diff --git a/handover_mic_wp1/handover_mic_wp1/instructions/episode46.json b/handover_mic_wp1/handover_mic_wp1/instructions/episode46.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f8ca4dc0e1439ee46acade91b2b53aee0048619
--- /dev/null
+++ b/handover_mic_wp1/handover_mic_wp1/instructions/episode46.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Have the right arm take the dark blue microphone, then the left arm takes the dark blue microphone, keep 0.10m from the black bottom trophy with smooth finish.",
+    "Move the gray stem microphone with foam top from the right arm to the left arm while keeping clear of the golden award trophy with black base.",
+    "Take the gray and dark blue microphone with the right arm, hand over to the left arm, keep the gray and dark blue microphone 0.10m away from the black bottom trophy with smooth finish.",
+    "Pick up the gray stem microphone with foam top using the right arm, transfer to the left arm, keep 0.10m from the shiny trophy with top knob.",
+    "Use the right arm to lift the medium microphone with two-tone color, then give the medium microphone with two-tone color to the left arm, avoiding the gold award cup with two handles by 0.10m.",
+    "Grab the microphone with dark blue padding, carry it around the trophy cup with curved sides with 0.10m clearance, then hand over.",
+    "Have the right arm grasp the microphone with smooth gray stem, avoid the medium-sized golden trophy by 0.10m, and transfer the microphone with smooth gray stem to the left arm.",
+    "With the right arm, take the microphone covered with foam tip, keep distance from the cup-shaped trophy with handles, and give the microphone covered with foam tip to the left arm.",
+    "Pick up the gray and dark blue microphone with the right arm, transfer to the left arm, stay away from the trophy with dangling ribbons.",
+    "Secure the microphone covered with foam tip, route it at least 0.10m from the gold trophy, then hand it over.",
+    "With the right arm, grasp the microphone covered with foam tip, then hand the microphone covered with foam tip to the left arm, avoiding the trophy with dangling ribbons.",
+    "Get the round head microphone with the right arm, shift the round head microphone to the left arm, maintaining 0.10m from the medium-sized golden trophy.",
+    "Pick up the dark blue microphone, move it staying 0.10m from the medium-sized golden trophy, then complete the handoff.",
+    "Let the right arm grasp the small audio microphone, move it 0.10m from the gold trophy on square black base, then the left arm receives.",
+    "Take the microphone for recording sound using the right arm, keep away from the gold trophy on square black base, and pass to the left arm.",
+    "Using the right arm, grab the medium microphone with two-tone color, keep 0.10m from the medium trophy with gold and black colors, then give the medium microphone with two-tone color to the left arm.",
+    "Lift the gray stem microphone with foam top with the right arm, give the gray stem microphone with foam top to the left arm, keep clear of the trophy cup with curved sides 0.10m.",
+    "Lift the microphone for recording sound, keep it 0.10m away from the golden award trophy with black base, then pass it across.",
+    "Using the right arm, take the microphone covered with foam tip and hand to the left arm, keeping 0.10m from the shiny trophy with top knob.",
+    "Take the microphone with smooth gray stem with the right arm, route it away from the cup-shaped trophy with handles, then hand it to the left arm.",
+    "Have the right arm take the gray stem microphone with foam top, then the left arm takes the gray stem microphone with foam top, keep 0.10m from the black bottom trophy with smooth finish.",
+    "Move the round head microphone from the right arm to the left arm while keeping clear of the medium trophy with gold and black colors.",
+    "Take the microphone with dark blue padding with the right arm, hand over to the left arm, keep the microphone with dark blue padding 0.10m away from the trophy cup with curved sides.",
+    "Pick up the microphone for recording sound using the right arm, transfer to the left arm, keep 0.10m from the gold trophy.",
+    "Use the right arm to lift the gray and dark blue microphone, then give the gray and dark blue microphone to the left arm, avoiding the golden award trophy with black base by 0.10m.",
+    "Grab the microphone with dark blue padding, carry it around the medium-sized golden trophy with 0.10m clearance, then hand over.",
+    "Have the right arm grasp the gray and dark blue microphone, avoid the medium-sized golden trophy by 0.10m, and transfer the gray and dark blue microphone to the left arm.",
+    "With the right arm, take the microphone covered with foam tip, keep distance from the golden award trophy with black base, and give the microphone covered with foam tip to the left arm.",
+    "Pick up the medium microphone with two-tone color with the right arm, transfer to the left arm, stay away from the cup-shaped trophy with handles.",
+    "Secure the small audio microphone, route it at least 0.10m from the shiny trophy with top knob, then hand it over.",
+    "With the right arm, grasp the microphone covered with foam tip, then hand the microphone covered with foam tip to the left arm, avoiding the cup-shaped trophy with handles.",
+    "Get the gray and dark blue microphone with the right arm, shift the gray and dark blue microphone to the left arm, maintaining 0.10m from the shiny trophy with top knob.",
+    "Pick up the round head microphone, move it staying 0.10m from the trophy with dangling ribbons, then complete the handoff.",
+    "Let the right arm grasp the gray stem microphone with foam top, move it 0.10m from the trophy cup with curved sides, then the left arm receives.",
+    "Take the microphone for recording sound using the right arm, keep away from the gold trophy, and pass to the left arm.",
+    "Using the right arm, grab the gray stem microphone with foam top, keep 0.10m from the trophy with dangling ribbons, then give the gray stem microphone with foam top to the left arm.",
+    "Lift the microphone with dark blue padding with the right arm, give the microphone with dark blue padding to the left arm, keep clear of the decorative trophy with curved handles 0.10m.",
+    "Lift the microphone covered with foam tip, keep it 0.10m away from the decorative trophy with curved handles, then pass it across.",
+    "Using the right arm, take the microphone for recording sound and hand to the left arm, keeping 0.10m from the medium-sized golden trophy.",
+    "Take the round head microphone with the right arm, route it away from the golden award trophy with black base, then hand it to the left arm.",
+    "Have the right arm take the round head microphone, then the left arm takes the round head microphone, keep 0.10m from the trophy cup with curved sides.",
+    "Move the microphone for recording sound from the right arm to the left arm while keeping clear of the black bottom trophy with smooth finish.",
+    "Take the microphone with smooth gray stem with the right arm, hand over to the left arm, keep the microphone with smooth gray stem 0.10m away from the shiny trophy with top knob.",
+    "Pick up the gray stem microphone with foam top using the right arm, transfer to the left arm, keep 0.10m from the shiny trophy with top knob.",
+    "Use the right arm to lift the gray stem microphone with foam top, then give the gray stem microphone with foam top to the left arm, avoiding the gold award cup with two handles by 0.10m.",
+    "Grab the round head microphone, carry it around the gold trophy with 0.10m clearance, then hand over.",
+    "Have the right arm grasp the small audio microphone, avoid the black bottom trophy with smooth finish by 0.10m, and transfer the small audio microphone to the left arm.",
+    "With the right arm, take the small audio microphone, keep distance from the gold award cup with two handles, and give the small audio microphone to the left arm.",
+    "Pick up the dark blue microphone with the right arm, transfer to the left arm, stay away from the decorative trophy with curved handles.",
+    "Secure the round head microphone, route it at least 0.10m from the gold trophy on square black base, then hand it over.",
+    "With the right arm, grasp the medium microphone with two-tone color, then hand the medium microphone with two-tone color to the left arm, avoiding the gold trophy on square black base.",
+    "Get the small audio microphone with the right arm, shift the small audio microphone to the left arm, maintaining 0.10m from the shiny trophy with top knob.",
+    "Pick up the gray stem microphone with foam top, move it staying 0.10m from the shiny trophy with top knob, then complete the handoff.",
+    "Let the right arm grasp the microphone for recording sound, move it 0.10m from the gold award cup with two handles, then the left arm receives.",
+    "Take the gray stem microphone with foam top using the right arm, keep away from the gold award cup with two handles, and pass to the left arm.",
+    "Using the right arm, grab the microphone covered with foam tip, keep 0.10m from the medium trophy with gold and black colors, then give the microphone covered with foam tip to the left arm.",
+    "Lift the medium microphone with two-tone color with the right arm, give the medium microphone with two-tone color to the left arm, keep clear of the black bottom trophy with smooth finish 0.10m.",
+    "Lift the gray and dark blue microphone, keep it 0.10m away from the golden award trophy with black base, then pass it across.",
+    "Using the right arm, take the audio microphone with soft covering and hand to the left arm, keeping 0.10m from the shiny trophy with top knob.",
+    "Take the round head microphone with the right arm, route it away from the gold trophy on square black base, then hand it to the left arm.",
+    "Have the right arm take the microphone with dark blue padding, then the left arm takes the microphone with dark blue padding, keep 0.10m from the gold award cup with two handles.",
+    "Move the audio microphone with soft covering from the right arm to the left arm while keeping clear of the gold trophy on square black base.",
+    "Take the gray stem microphone with foam top with the right arm, hand over to the left arm, keep the gray stem microphone with foam top 0.10m away from the medium-sized golden trophy.",
+    "Pick up the small audio microphone using the right arm, transfer to the left arm, keep 0.10m from the trophy with dangling ribbons.",
+    "Use the right arm to lift the small audio microphone, then give the small audio microphone to the left arm, avoiding the cup-shaped trophy with handles by 0.10m.",
+    "Grab the medium microphone with two-tone color, carry it around the trophy cup with curved sides with 0.10m clearance, then hand over.",
+    "Have the right arm grasp the microphone with dark blue padding, avoid the medium-sized golden trophy by 0.10m, and transfer the microphone with dark blue padding to the left arm.",
+    "With the right arm, take the microphone for recording sound, keep distance from the gold award cup with two handles, and give the microphone for recording sound to the left arm.",
+    "Pick up the microphone covered with foam tip with the right arm, transfer to the left arm, stay away from the cup-shaped trophy with handles.",
+    "Secure the gray and dark blue microphone, route it at least 0.10m from the shiny trophy with top knob, then hand it over.",
+    "With the right arm, grasp the dark blue microphone, then hand the dark blue microphone to the left arm, avoiding the decorative trophy with curved handles.",
+    "Get the microphone with smooth gray stem with the right arm, shift the microphone with smooth gray stem to the left arm, maintaining 0.10m from the shiny trophy with top knob.",
+    "Pick up the gray and dark blue microphone, move it staying 0.10m from the trophy with dangling ribbons, then complete the handoff.",
+    "Let the right arm grasp the dark blue microphone, move it 0.10m from the gold award cup with two handles, then the left arm receives.",
+    "Take the microphone with round foam head using the right arm, keep away from the medium trophy with gold and black colors, and pass to the left arm.",
+    "Using the right arm, grab the gray and dark blue microphone, keep 0.10m from the gold trophy, then give the gray and dark blue microphone to the left arm.",
+    "Lift the gray and dark blue microphone with the right arm, give the gray and dark blue microphone to the left arm, keep clear of the cup-shaped trophy with handles 0.10m.",
+    "Lift the microphone covered with foam tip, keep it 0.10m away from the trophy with dangling ribbons, then pass it across.",
+    "Using the right arm, take the microphone for recording sound and hand to the left arm, keeping 0.10m from the golden award trophy with black base.",
+    "Take the microphone with round foam head with the right arm, route it away from the cup-shaped trophy with handles, then hand it to the left arm.",
+    "Have the right arm take the microphone with round foam head, then the left arm takes the microphone with round foam head, keep 0.10m from the medium trophy with gold and black colors.",
+    "Move the gray stem microphone with foam top from the right arm to the left arm while keeping clear of the gold trophy.",
+    "Take the microphone with smooth gray stem with the right arm, hand over to the left arm, keep the microphone with smooth gray stem 0.10m away from the medium trophy with gold and black colors.",
+    "Pick up the gray stem microphone with foam top using the right arm, transfer to the left arm, keep 0.10m from the medium trophy with gold and black colors.",
+    "Use the right arm to lift the small audio microphone, then give the small audio microphone to the left arm, avoiding the cup-shaped trophy with handles by 0.10m.",
+    "Grab the microphone for recording sound, carry it around the decorative trophy with curved handles with 0.10m clearance, then hand over.",
+    "Have the right arm grasp the microphone with dark blue padding, avoid the medium-sized golden trophy by 0.10m, and transfer the microphone with dark blue padding to the left arm.",
+    "With the right arm, take the round head microphone, keep distance from the medium trophy with gold and black colors, and give the round head microphone to the left arm.",
+    "Pick up the gray and dark blue microphone with the right arm, transfer to the left arm, stay away from the black bottom trophy with smooth finish.",
+    "Secure the small audio microphone, route it at least 0.10m from the trophy with dangling ribbons, then hand it over.",
+    "With the right arm, grasp the microphone with dark blue padding, then hand the microphone with dark blue padding to the left arm, avoiding the gold award cup with two handles.",
+    "Get the dark blue microphone with the right arm, shift the dark blue microphone to the left arm, maintaining 0.10m from the medium trophy with gold and black colors.",
+    "Pick up the microphone for recording sound, move it staying 0.10m from the black bottom trophy with smooth finish, then complete the handoff.",
+    "Let the right arm grasp the microphone with dark blue padding, move it 0.10m from the cup-shaped trophy with handles, then the left arm receives.",
+    "Take the microphone for recording sound using the right arm, keep away from the black bottom trophy with smooth finish, and pass to the left arm.",
+    "Using the right arm, grab the microphone with round foam head, keep 0.10m from the medium trophy with gold and black colors, then give the microphone with round foam head to the left arm.",
+    "Lift the round head microphone with the right arm, give the round head microphone to the left arm, keep clear of the gold trophy 0.10m.",
+    "Lift the microphone with smooth gray stem, keep it 0.10m away from the gold trophy, then pass it across.",
+    "Using the right arm, take the round head microphone and hand to the left arm, keeping 0.10m from the trophy with dangling ribbons.",
+    "Take the gray stem microphone with foam top with the right arm, route it away from the cup-shaped trophy with handles, then hand it to the left arm."
+  ],
+  "unseen": [
+    "Grab the handheld microphone with the right arm, keep 0.10m from the smooth golden trophy, hand to the left arm.",
+    "Use the right arm to grab the handheld microphone, then pass it to the left arm, avoiding the trophy with red and blue ribbons.",
+    "Grab the handheld microphone with the right arm, hand it to the left arm, avoiding the smooth golden trophy by 0.10m.",
+    "With the right arm, grab the compact microphone with two parts, pass to the left arm, keeping the compact microphone with two parts 0.10m from the shiny trophy cup.",
+    "Use the right arm to grab the handheld microphone, pass to the left arm, keep the handheld microphone 0.10m from the smooth golden trophy.",
+    "Pick up the handheld microphone, avoid the trophy with red and blue ribbons by 0.10m, pass the handheld microphone from the right arm to the left arm.",
+    "Grab the handheld microphone with the right arm, keep 0.10m from the smooth golden trophy, hand to the left arm.",
+    "Use the right arm to grab the compact microphone with two parts, then pass it to the left arm, avoiding the smooth golden trophy.",
+    "Grab the handheld microphone with the right arm, hand it to the left arm, avoiding the smooth golden trophy by 0.10m.",
+    "With the right arm, grab the compact microphone with two parts, pass to the left arm, keeping the compact microphone with two parts 0.10m from the trophy with red and blue ribbons.",
+    "Use the right arm to grab the microphone with cylindrical handle, pass to the left arm, keep the microphone with cylindrical handle 0.10m from the smooth golden trophy.",
+    "Pick up the handheld microphone, avoid the trophy with red and blue ribbons by 0.10m, pass the handheld microphone from the right arm to the left arm.",
+    "Grab the handheld microphone with the right arm, keep 0.10m from the trophy with red and blue ribbons, hand to the left arm.",
+    "Use the right arm to grab the compact microphone with two parts, then pass it to the left arm, avoiding the shiny trophy cup.",
+    "Grab the microphone with cylindrical handle with the right arm, hand it to the left arm, avoiding the smooth golden trophy by 0.10m.",
+    "With the right arm, grab the compact microphone with two parts, pass to the left arm, keeping the compact microphone with two parts 0.10m from the smooth golden trophy.",
+    "Use the right arm to grab the compact microphone with two parts, pass to the left arm, keep the compact microphone with two parts 0.10m from the trophy with red and blue ribbons.",
+    "Pick up the handheld microphone, avoid the smooth golden trophy by 0.10m, pass the handheld microphone from the right arm to the left arm.",
+    "Grab the microphone with cylindrical handle with the right arm, keep 0.10m from the smooth golden trophy, hand to the left arm.",
+    "Use the right arm to grab the compact microphone with two parts, then pass it to the left arm, avoiding the smooth golden trophy.",
+    "Grab the microphone with cylindrical handle with the right arm, hand it to the left arm, avoiding the shiny trophy cup by 0.10m.",
+    "With the right arm, grab the microphone with cylindrical handle, pass to the left arm, keeping the microphone with cylindrical handle 0.10m from the trophy with red and blue ribbons.",
+    "Use the right arm to grab the compact microphone with two parts, pass to the left arm, keep the compact microphone with two parts 0.10m from the shiny trophy cup.",
+    "Pick up the microphone with cylindrical handle, avoid the shiny trophy cup by 0.10m, pass the microphone with cylindrical handle from the right arm to the left arm.",
+    "Grab the microphone with cylindrical handle with the right arm, keep 0.10m from the smooth golden trophy, hand to the left arm.",
+    "Use the right arm to grab the compact microphone with two parts, then pass it to the left arm, avoiding the shiny trophy cup.",
+    "Grab the microphone with cylindrical handle with the right arm, hand it to the left arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "With the right arm, grab the microphone with cylindrical handle, pass to the left arm, keeping the microphone with cylindrical handle 0.10m from the smooth golden trophy.",
+    "Use the right arm to grab the compact microphone with two parts, pass to the left arm, keep the compact microphone with two parts 0.10m from the shiny trophy cup.",
+    "Pick up the handheld microphone, avoid the smooth golden trophy by 0.10m, pass the handheld microphone from the right arm to the left arm.",
+    "Grab the handheld microphone with the right arm, keep 0.10m from the smooth golden trophy, hand to the left arm.",
+    "Use the right arm to grab the handheld microphone, then pass it to the left arm, avoiding the shiny trophy cup.",
+    "Grab the compact microphone with two parts with the right arm, hand it to the left arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "With the right arm, grab the microphone with cylindrical handle, pass to the left arm, keeping the microphone with cylindrical handle 0.10m from the shiny trophy cup.",
+    "Use the right arm to grab the handheld microphone, pass to the left arm, keep the handheld microphone 0.10m from the shiny trophy cup.",
+    "Pick up the handheld microphone, avoid the shiny trophy cup by 0.10m, pass the handheld microphone from the right arm to the left arm.",
+    "Grab the handheld microphone with the right arm, keep 0.10m from the trophy with red and blue ribbons, hand to the left arm.",
+    "Use the right arm to grab the compact microphone with two parts, then pass it to the left arm, avoiding the shiny trophy cup.",
+    "Grab the handheld microphone with the right arm, hand it to the left arm, avoiding the shiny trophy cup by 0.10m.",
+    "With the right arm, grab the handheld microphone, pass to the left arm, keeping the handheld microphone 0.10m from the smooth golden trophy.",
+    "Use the right arm to grab the compact microphone with two parts, pass to the left arm, keep the compact microphone with two parts 0.10m from the trophy with red and blue ribbons.",
+    "Pick up the handheld microphone, avoid the shiny trophy cup by 0.10m, pass the handheld microphone from the right arm to the left arm.",
+    "Grab the microphone with cylindrical handle with the right arm, keep 0.10m from the smooth golden trophy, hand to the left arm.",
+    "Use the right arm to grab the handheld microphone, then pass it to the left arm, avoiding the shiny trophy cup.",
+    "Grab the handheld microphone with the right arm, hand it to the left arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "With the right arm, grab the microphone with cylindrical handle, pass to the left arm, keeping the microphone with cylindrical handle 0.10m from the trophy with red and blue ribbons.",
+    "Use the right arm to grab the microphone with cylindrical handle, pass to the left arm, keep the microphone with cylindrical handle 0.10m from the shiny trophy cup.",
+    "Pick up the handheld microphone, avoid the shiny trophy cup by 0.10m, pass the handheld microphone from the right arm to the left arm.",
+    "Grab the compact microphone with two parts with the right arm, keep 0.10m from the shiny trophy cup, hand to the left arm.",
+    "Use the right arm to grab the handheld microphone, then pass it to the left arm, avoiding the shiny trophy cup.",
+    "Grab the handheld microphone with the right arm, hand it to the left arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "With the right arm, grab the microphone with cylindrical handle, pass to the left arm, keeping the microphone with cylindrical handle 0.10m from the smooth golden trophy.",
+    "Use the right arm to grab the handheld microphone, pass to the left arm, keep the handheld microphone 0.10m from the shiny trophy cup.",
+    "Pick up the compact microphone with two parts, avoid the shiny trophy cup by 0.10m, pass the compact microphone with two parts from the right arm to the left arm.",
+    "Grab the handheld microphone with the right arm, keep 0.10m from the shiny trophy cup, hand to the left arm.",
+    "Use the right arm to grab the handheld microphone, then pass it to the left arm, avoiding the smooth golden trophy.",
+    "Grab the handheld microphone with the right arm, hand it to the left arm, avoiding the smooth golden trophy by 0.10m.",
+    "With the right arm, grab the microphone with cylindrical handle, pass to the left arm, keeping the microphone with cylindrical handle 0.10m from the trophy with red and blue ribbons.",
+    "Use the right arm to grab the compact microphone with two parts, pass to the left arm, keep the compact microphone with two parts 0.10m from the smooth golden trophy.",
+    "Pick up the compact microphone with two parts, avoid the smooth golden trophy by 0.10m, pass the compact microphone with two parts from the right arm to the left arm.",
+    "Grab the handheld microphone with the right arm, keep 0.10m from the trophy with red and blue ribbons, hand to the left arm.",
+    "Use the right arm to grab the microphone with cylindrical handle, then pass it to the left arm, avoiding the smooth golden trophy.",
+    "Grab the compact microphone with two parts with the right arm, hand it to the left arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "With the right arm, grab the compact microphone with two parts, pass to the left arm, keeping the compact microphone with two parts 0.10m from the smooth golden trophy.",
+    "Use the right arm to grab the microphone with cylindrical handle, pass to the left arm, keep the microphone with cylindrical handle 0.10m from the smooth golden trophy.",
+    "Pick up the handheld microphone, avoid the trophy with red and blue ribbons by 0.10m, pass the handheld microphone from the right arm to the left arm.",
+    "Grab the microphone with cylindrical handle with the right arm, keep 0.10m from the shiny trophy cup, hand to the left arm.",
+    "Use the right arm to grab the compact microphone with two parts, then pass it to the left arm, avoiding the smooth golden trophy.",
+    "Grab the microphone with cylindrical handle with the right arm, hand it to the left arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "With the right arm, grab the compact microphone with two parts, pass to the left arm, keeping the compact microphone with two parts 0.10m from the shiny trophy cup.",
+    "Use the right arm to grab the handheld microphone, pass to the left arm, keep the handheld microphone 0.10m from the smooth golden trophy.",
+    "Pick up the compact microphone with two parts, avoid the trophy with red and blue ribbons by 0.10m, pass the compact microphone with two parts from the right arm to the left arm.",
+    "Grab the microphone with cylindrical handle with the right arm, keep 0.10m from the shiny trophy cup, hand to the left arm.",
+    "Use the right arm to grab the compact microphone with two parts, then pass it to the left arm, avoiding the shiny trophy cup.",
+    "Grab the handheld microphone with the right arm, hand it to the left arm, avoiding the smooth golden trophy by 0.10m.",
+    "With the right arm, grab the compact microphone with two parts, pass to the left arm, keeping the compact microphone with two parts 0.10m from the smooth golden trophy.",
+    "Use the right arm to grab the handheld microphone, pass to the left arm, keep the handheld microphone 0.10m from the shiny trophy cup.",
+    "Pick up the microphone with cylindrical handle, avoid the shiny trophy cup by 0.10m, pass the microphone with cylindrical handle from the right arm to the left arm.",
+    "Grab the microphone with cylindrical handle with the right arm, keep 0.10m from the shiny trophy cup, hand to the left arm.",
+    "Use the right arm to grab the compact microphone with two parts, then pass it to the left arm, avoiding the smooth golden trophy.",
+    "Grab the handheld microphone with the right arm, hand it to the left arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "With the right arm, grab the compact microphone with two parts, pass to the left arm, keeping the compact microphone with two parts 0.10m from the shiny trophy cup.",
+    "Use the right arm to grab the handheld microphone, pass to the left arm, keep the handheld microphone 0.10m from the shiny trophy cup.",
+    "Pick up the microphone with cylindrical handle, avoid the trophy with red and blue ribbons by 0.10m, pass the microphone with cylindrical handle from the right arm to the left arm.",
+    "Grab the handheld microphone with the right arm, keep 0.10m from the trophy with red and blue ribbons, hand to the left arm.",
+    "Use the right arm to grab the handheld microphone, then pass it to the left arm, avoiding the shiny trophy cup.",
+    "Grab the compact microphone with two parts with the right arm, hand it to the left arm, avoiding the shiny trophy cup by 0.10m.",
+    "With the right arm, grab the compact microphone with two parts, pass to the left arm, keeping the compact microphone with two parts 0.10m from the trophy with red and blue ribbons.",
+    "Use the right arm to grab the handheld microphone, pass to the left arm, keep the handheld microphone 0.10m from the trophy with red and blue ribbons.",
+    "Pick up the microphone with cylindrical handle, avoid the smooth golden trophy by 0.10m, pass the microphone with cylindrical handle from the right arm to the left arm.",
+    "Grab the compact microphone with two parts with the right arm, keep 0.10m from the smooth golden trophy, hand to the left arm.",
+    "Use the right arm to grab the compact microphone with two parts, then pass it to the left arm, avoiding the smooth golden trophy.",
+    "Grab the handheld microphone with the right arm, hand it to the left arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "With the right arm, grab the compact microphone with two parts, pass to the left arm, keeping the compact microphone with two parts 0.10m from the trophy with red and blue ribbons.",
+    "Use the right arm to grab the compact microphone with two parts, pass to the left arm, keep the compact microphone with two parts 0.10m from the smooth golden trophy.",
+    "Pick up the compact microphone with two parts, avoid the shiny trophy cup by 0.10m, pass the compact microphone with two parts from the right arm to the left arm.",
+    "Grab the compact microphone with two parts with the right arm, keep 0.10m from the smooth golden trophy, hand to the left arm.",
+    "Use the right arm to grab the microphone with cylindrical handle, then pass it to the left arm, avoiding the smooth golden trophy.",
+    "Grab the compact microphone with two parts with the right arm, hand it to the left arm, avoiding the smooth golden trophy by 0.10m.",
+    "With the right arm, grab the handheld microphone, pass to the left arm, keeping the handheld microphone 0.10m from the trophy with red and blue ribbons."
+  ]
+}
\ No newline at end of file
diff --git a/handover_mic_wp1/handover_mic_wp1/instructions/episode47.json b/handover_mic_wp1/handover_mic_wp1/instructions/episode47.json
new file mode 100644
index 0000000000000000000000000000000000000000..b99f6e7955f813b0e46dad9bda6b80016cb9d2a2
--- /dev/null
+++ b/handover_mic_wp1/handover_mic_wp1/instructions/episode47.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the microphone covered with foam tip, move it staying 0.10m from the achievement cup with curved side handles, then complete the handoff.",
+    "Have the right arm grasp the dark blue microphone, avoid the metallic yellow cup-shaped trophy by 0.10m, and transfer the dark blue microphone to the left arm.",
+    "Get the round head microphone with the right arm, shift the round head microphone to the left arm, maintaining 0.10m from the golden cup with curved handles.",
+    "Take the microphone covered with foam tip using the right arm, keep away from the shiny yellow trophy, and pass to the left arm.",
+    "Let the right arm grasp the dark blue microphone, move it 0.10m from the golden yellow cup-shaped prize trophy, then the left arm receives.",
+    "Grab the microphone with dark blue padding, carry it around the smooth metallic cup with flat bottom with 0.10m clearance, then hand over.",
+    "Pick up the small audio microphone using the right arm, transfer to the left arm, keep 0.10m from the golden trophy.",
+    "Lift the small audio microphone with the right arm, give the small audio microphone to the left arm, keep clear of the golden cup with curved handles 0.10m.",
+    "Have the right arm take the round head microphone, then the left arm takes the round head microphone, keep 0.10m from the golden cup with curved handles.",
+    "Take the microphone for recording sound with the right arm, route it away from the achievement cup with curved side handles, then hand it to the left arm.",
+    "Take the medium microphone with two-tone color with the right arm, hand over to the left arm, keep the medium microphone with two-tone color 0.10m away from the shiny trophy for winning competitions.",
+    "With the right arm, grasp the dark blue microphone, then hand the dark blue microphone to the left arm, avoiding the trophy with sleek golden finish.",
+    "Using the right arm, grab the round head microphone, keep 0.10m from the tall award trophy with glossy surface, then give the round head microphone to the left arm.",
+    "Pick up the small audio microphone with the right arm, transfer to the left arm, stay away from the metallic yellow cup-shaped trophy.",
+    "With the right arm, take the round head microphone, keep distance from the smooth metallic cup with flat bottom, and give the round head microphone to the left arm.",
+    "Secure the microphone for recording sound, route it at least 0.10m from the golden trophy, then hand it over.",
+    "Using the right arm, take the microphone with smooth gray stem and hand to the left arm, keeping 0.10m from the award trophy with two handles.",
+    "Use the right arm to lift the gray and dark blue microphone, then give the gray and dark blue microphone to the left arm, avoiding the tall yellow trophy with small neck by 0.10m.",
+    "Lift the round head microphone, keep it 0.10m away from the golden yellow cup-shaped prize trophy, then pass it across.",
+    "Move the gray stem microphone with foam top from the right arm to the left arm while keeping clear of the tall award trophy with glossy surface.",
+    "Pick up the microphone covered with foam tip, move it staying 0.10m from the metallic yellow cup-shaped trophy, then complete the handoff.",
+    "Have the right arm grasp the microphone covered with foam tip, avoid the golden cup with curved handles by 0.10m, and transfer the microphone covered with foam tip to the left arm.",
+    "Get the gray and dark blue microphone with the right arm, shift the gray and dark blue microphone to the left arm, maintaining 0.10m from the metallic yellow cup-shaped trophy.",
+    "Take the gray and dark blue microphone using the right arm, keep away from the tall yellow trophy with small neck, and pass to the left arm.",
+    "Let the right arm grasp the dark blue microphone, move it 0.10m from the metallic yellow cup-shaped trophy, then the left arm receives.",
+    "Grab the microphone with dark blue padding, carry it around the golden cup with curved handles with 0.10m clearance, then hand over.",
+    "Pick up the audio microphone with soft covering using the right arm, transfer to the left arm, keep 0.10m from the achievement cup with curved side handles.",
+    "Lift the small audio microphone with the right arm, give the small audio microphone to the left arm, keep clear of the achievement cup with curved side handles 0.10m.",
+    "Have the right arm take the microphone with round foam head, then the left arm takes the microphone with round foam head, keep 0.10m from the golden cup with curved handles.",
+    "Take the dark blue microphone with the right arm, route it away from the shiny trophy for winning competitions, then hand it to the left arm.",
+    "Take the small audio microphone with the right arm, hand over to the left arm, keep the small audio microphone 0.10m away from the golden trophy.",
+    "With the right arm, grasp the microphone with smooth gray stem, then hand the microphone with smooth gray stem to the left arm, avoiding the award trophy with two handles.",
+    "Using the right arm, grab the microphone with smooth gray stem, keep 0.10m from the trophy with sleek golden finish, then give the microphone with smooth gray stem to the left arm.",
+    "Pick up the dark blue microphone with the right arm, transfer to the left arm, stay away from the tall award trophy with glossy surface.",
+    "With the right arm, take the audio microphone with soft covering, keep distance from the metallic yellow cup-shaped trophy, and give the audio microphone with soft covering to the left arm.",
+    "Secure the small audio microphone, route it at least 0.10m from the award trophy with two handles, then hand it over.",
+    "Using the right arm, take the medium microphone with two-tone color and hand to the left arm, keeping 0.10m from the tall award trophy with glossy surface.",
+    "Use the right arm to lift the microphone with round foam head, then give the microphone with round foam head to the left arm, avoiding the award trophy with two handles by 0.10m.",
+    "Lift the microphone with round foam head, keep it 0.10m away from the golden yellow cup-shaped prize trophy, then pass it across.",
+    "Move the microphone with dark blue padding from the right arm to the left arm while keeping clear of the shiny trophy for winning competitions.",
+    "Pick up the round head microphone, move it staying 0.10m from the trophy with sleek golden finish, then complete the handoff.",
+    "Have the right arm grasp the microphone for recording sound, avoid the award trophy with two handles by 0.10m, and transfer the microphone for recording sound to the left arm.",
+    "Get the gray and dark blue microphone with the right arm, shift the gray and dark blue microphone to the left arm, maintaining 0.10m from the golden cup with curved handles.",
+    "Take the microphone with smooth gray stem using the right arm, keep away from the metallic yellow cup-shaped trophy, and pass to the left arm.",
+    "Let the right arm grasp the microphone with round foam head, move it 0.10m from the golden trophy, then the left arm receives.",
+    "Grab the dark blue microphone, carry it around the shiny yellow trophy with 0.10m clearance, then hand over.",
+    "Pick up the dark blue microphone using the right arm, transfer to the left arm, keep 0.10m from the tall yellow trophy with small neck.",
+    "Lift the round head microphone with the right arm, give the round head microphone to the left arm, keep clear of the tall award trophy with glossy surface 0.10m.",
+    "Have the right arm take the microphone covered with foam tip, then the left arm takes the microphone covered with foam tip, keep 0.10m from the shiny yellow trophy.",
+    "Take the gray and dark blue microphone with the right arm, route it away from the shiny yellow trophy, then hand it to the left arm.",
+    "Take the microphone with smooth gray stem with the right arm, hand over to the left arm, keep the microphone with smooth gray stem 0.10m away from the golden yellow cup-shaped prize trophy.",
+    "With the right arm, grasp the microphone covered with foam tip, then hand the microphone covered with foam tip to the left arm, avoiding the trophy with sleek golden finish.",
+    "Using the right arm, grab the microphone with dark blue padding, keep 0.10m from the award trophy with two handles, then give the microphone with dark blue padding to the left arm.",
+    "Pick up the microphone with dark blue padding with the right arm, transfer to the left arm, stay away from the achievement cup with curved side handles.",
+    "With the right arm, take the small audio microphone, keep distance from the smooth metallic cup with flat bottom, and give the small audio microphone to the left arm.",
+    "Secure the small audio microphone, route it at least 0.10m from the smooth metallic cup with flat bottom, then hand it over.",
+    "Using the right arm, take the dark blue microphone and hand to the left arm, keeping 0.10m from the metallic yellow cup-shaped trophy.",
+    "Use the right arm to lift the microphone with round foam head, then give the microphone with round foam head to the left arm, avoiding the shiny trophy for winning competitions by 0.10m.",
+    "Lift the dark blue microphone, keep it 0.10m away from the shiny yellow trophy, then pass it across.",
+    "Move the medium microphone with two-tone color from the right arm to the left arm while keeping clear of the shiny trophy for winning competitions.",
+    "Pick up the gray stem microphone with foam top, move it staying 0.10m from the trophy with sleek golden finish, then complete the handoff.",
+    "Have the right arm grasp the microphone with dark blue padding, avoid the shiny trophy for winning competitions by 0.10m, and transfer the microphone with dark blue padding to the left arm.",
+    "Get the audio microphone with soft covering with the right arm, shift the audio microphone with soft covering to the left arm, maintaining 0.10m from the metallic yellow cup-shaped trophy.",
+    "Take the microphone with round foam head using the right arm, keep away from the golden cup with curved handles, and pass to the left arm.",
+    "Let the right arm grasp the gray stem microphone with foam top, move it 0.10m from the award trophy with two handles, then the left arm receives.",
+    "Grab the small audio microphone, carry it around the golden cup with curved handles with 0.10m clearance, then hand over.",
+    "Pick up the round head microphone using the right arm, transfer to the left arm, keep 0.10m from the achievement cup with curved side handles.",
+    "Lift the dark blue microphone with the right arm, give the dark blue microphone to the left arm, keep clear of the golden yellow cup-shaped prize trophy 0.10m.",
+    "Have the right arm take the dark blue microphone, then the left arm takes the dark blue microphone, keep 0.10m from the award trophy with two handles.",
+    "Take the audio microphone with soft covering with the right arm, route it away from the golden trophy, then hand it to the left arm.",
+    "Take the microphone for recording sound with the right arm, hand over to the left arm, keep the microphone for recording sound 0.10m away from the achievement cup with curved side handles.",
+    "With the right arm, grasp the audio microphone with soft covering, then hand the audio microphone with soft covering to the left arm, avoiding the achievement cup with curved side handles.",
+    "Using the right arm, grab the microphone for recording sound, keep 0.10m from the award trophy with two handles, then give the microphone for recording sound to the left arm.",
+    "Pick up the gray and dark blue microphone with the right arm, transfer to the left arm, stay away from the metallic yellow cup-shaped trophy.",
+    "With the right arm, take the dark blue microphone, keep distance from the shiny trophy for winning competitions, and give the dark blue microphone to the left arm.",
+    "Secure the gray stem microphone with foam top, route it at least 0.10m from the shiny yellow trophy, then hand it over.",
+    "Using the right arm, take the microphone for recording sound and hand to the left arm, keeping 0.10m from the smooth metallic cup with flat bottom.",
+    "Use the right arm to lift the microphone with round foam head, then give the microphone with round foam head to the left arm, avoiding the shiny trophy for winning competitions by 0.10m.",
+    "Lift the dark blue microphone, keep it 0.10m away from the golden cup with curved handles, then pass it across.",
+    "Move the microphone covered with foam tip from the right arm to the left arm while keeping clear of the tall yellow trophy with small neck.",
+    "Pick up the round head microphone, move it staying 0.10m from the achievement cup with curved side handles, then complete the handoff.",
+    "Have the right arm grasp the microphone with dark blue padding, avoid the golden cup with curved handles by 0.10m, and transfer the microphone with dark blue padding to the left arm.",
+    "Get the microphone covered with foam tip with the right arm, shift the microphone covered with foam tip to the left arm, maintaining 0.10m from the shiny trophy for winning competitions.",
+    "Take the microphone with smooth gray stem using the right arm, keep away from the shiny trophy for winning competitions, and pass to the left arm.",
+    "Let the right arm grasp the round head microphone, move it 0.10m from the golden cup with curved handles, then the left arm receives.",
+    "Grab the audio microphone with soft covering, carry it around the tall award trophy with glossy surface with 0.10m clearance, then hand over.",
+    "Pick up the medium microphone with two-tone color using the right arm, transfer to the left arm, keep 0.10m from the award trophy with two handles.",
+    "Lift the dark blue microphone with the right arm, give the dark blue microphone to the left arm, keep clear of the golden trophy 0.10m.",
+    "Have the right arm take the audio microphone with soft covering, then the left arm takes the audio microphone with soft covering, keep 0.10m from the smooth metallic cup with flat bottom.",
+    "Take the microphone for recording sound with the right arm, route it away from the shiny yellow trophy, then hand it to the left arm.",
+    "Take the audio microphone with soft covering with the right arm, hand over to the left arm, keep the audio microphone with soft covering 0.10m away from the shiny trophy for winning competitions.",
+    "With the right arm, grasp the microphone with round foam head, then hand the microphone with round foam head to the left arm, avoiding the metallic yellow cup-shaped trophy.",
+    "Using the right arm, grab the small audio microphone, keep 0.10m from the golden trophy, then give the small audio microphone to the left arm.",
+    "Pick up the microphone with smooth gray stem with the right arm, transfer to the left arm, stay away from the shiny yellow trophy.",
+    "With the right arm, take the dark blue microphone, keep distance from the tall yellow trophy with small neck, and give the dark blue microphone to the left arm.",
+    "Secure the gray stem microphone with foam top, route it at least 0.10m from the award trophy with two handles, then hand it over.",
+    "Using the right arm, take the microphone for recording sound and hand to the left arm, keeping 0.10m from the trophy with sleek golden finish.",
+    "Use the right arm to lift the microphone for recording sound, then give the microphone for recording sound to the left arm, avoiding the trophy with sleek golden finish by 0.10m.",
+    "Lift the audio microphone with soft covering, keep it 0.10m away from the tall yellow trophy with small neck, then pass it across.",
+    "Move the microphone for recording sound from the right arm to the left arm while keeping clear of the tall award trophy with glossy surface."
+  ],
+  "unseen": [
+    "Use the right arm to grab the compact microphone with two parts, then pass it to the left arm, avoiding the medium-sized golden prize cup.",
+    "Pick up the microphone with cylindrical handle, avoid the smooth trophy with wide base by 0.10m, pass the microphone with cylindrical handle from the right arm to the left arm.",
+    "Use the right arm to grab the compact microphone with two parts, pass to the left arm, keep the compact microphone with two parts 0.10m from the smooth trophy with wide base.",
+    "Grab the microphone with cylindrical handle with the right arm, hand it to the left arm, avoiding the medium-sized golden prize cup by 0.10m.",
+    "With the right arm, grab the handheld microphone, pass to the left arm, keeping the handheld microphone 0.10m from the prize trophy with sturdy round base.",
+    "Grab the microphone with cylindrical handle with the right arm, keep 0.10m from the smooth trophy with wide base, hand to the left arm.",
+    "Use the right arm to grab the microphone with cylindrical handle, then pass it to the left arm, avoiding the prize trophy with sturdy round base.",
+    "Pick up the handheld microphone, avoid the prize trophy with sturdy round base by 0.10m, pass the handheld microphone from the right arm to the left arm.",
+    "Use the right arm to grab the handheld microphone, pass to the left arm, keep the handheld microphone 0.10m from the prize trophy with sturdy round base.",
+    "Grab the microphone with cylindrical handle with the right arm, hand it to the left arm, avoiding the prize trophy with sturdy round base by 0.10m.",
+    "With the right arm, grab the handheld microphone, pass to the left arm, keeping the handheld microphone 0.10m from the medium-sized golden prize cup.",
+    "Grab the microphone with cylindrical handle with the right arm, keep 0.10m from the smooth trophy with wide base, hand to the left arm.",
+    "Use the right arm to grab the handheld microphone, then pass it to the left arm, avoiding the medium-sized golden prize cup.",
+    "Pick up the compact microphone with two parts, avoid the prize trophy with sturdy round base by 0.10m, pass the compact microphone with two parts from the right arm to the left arm.",
+    "Use the right arm to grab the handheld microphone, pass to the left arm, keep the handheld microphone 0.10m from the medium-sized golden prize cup.",
+    "Grab the compact microphone with two parts with the right arm, hand it to the left arm, avoiding the medium-sized golden prize cup by 0.10m.",
+    "With the right arm, grab the microphone with cylindrical handle, pass to the left arm, keeping the microphone with cylindrical handle 0.10m from the medium-sized golden prize cup.",
+    "Grab the microphone with cylindrical handle with the right arm, keep 0.10m from the prize trophy with sturdy round base, hand to the left arm.",
+    "Use the right arm to grab the microphone with cylindrical handle, then pass it to the left arm, avoiding the medium-sized golden prize cup.",
+    "Pick up the handheld microphone, avoid the smooth trophy with wide base by 0.10m, pass the handheld microphone from the right arm to the left arm.",
+    "Use the right arm to grab the handheld microphone, pass to the left arm, keep the handheld microphone 0.10m from the medium-sized golden prize cup.",
+    "Grab the compact microphone with two parts with the right arm, hand it to the left arm, avoiding the prize trophy with sturdy round base by 0.10m.",
+    "With the right arm, grab the compact microphone with two parts, pass to the left arm, keeping the compact microphone with two parts 0.10m from the smooth trophy with wide base.",
+    "Grab the microphone with cylindrical handle with the right arm, keep 0.10m from the prize trophy with sturdy round base, hand to the left arm.",
+    "Use the right arm to grab the compact microphone with two parts, then pass it to the left arm, avoiding the prize trophy with sturdy round base.",
+    "Pick up the compact microphone with two parts, avoid the medium-sized golden prize cup by 0.10m, pass the compact microphone with two parts from the right arm to the left arm.",
+    "Use the right arm to grab the microphone with cylindrical handle, pass to the left arm, keep the microphone with cylindrical handle 0.10m from the medium-sized golden prize cup.",
+    "Grab the microphone with cylindrical handle with the right arm, hand it to the left arm, avoiding the medium-sized golden prize cup by 0.10m.",
+    "With the right arm, grab the handheld microphone, pass to the left arm, keeping the handheld microphone 0.10m from the prize trophy with sturdy round base.",
+    "Grab the handheld microphone with the right arm, keep 0.10m from the medium-sized golden prize cup, hand to the left arm.",
+    "Use the right arm to grab the handheld microphone, then pass it to the left arm, avoiding the smooth trophy with wide base.",
+    "Pick up the handheld microphone, avoid the prize trophy with sturdy round base by 0.10m, pass the handheld microphone from the right arm to the left arm.",
+    "Use the right arm to grab the handheld microphone, pass to the left arm, keep the handheld microphone 0.10m from the medium-sized golden prize cup.",
+    "Grab the handheld microphone with the right arm, hand it to the left arm, avoiding the smooth trophy with wide base by 0.10m.",
+    "With the right arm, grab the handheld microphone, pass to the left arm, keeping the handheld microphone 0.10m from the smooth trophy with wide base.",
+    "Grab the microphone with cylindrical handle with the right arm, keep 0.10m from the medium-sized golden prize cup, hand to the left arm.",
+    "Use the right arm to grab the handheld microphone, then pass it to the left arm, avoiding the medium-sized golden prize cup.",
+    "Pick up the handheld microphone, avoid the prize trophy with sturdy round base by 0.10m, pass the handheld microphone from the right arm to the left arm.",
+    "Use the right arm to grab the compact microphone with two parts, pass to the left arm, keep the compact microphone with two parts 0.10m from the smooth trophy with wide base.",
+    "Grab the microphone with cylindrical handle with the right arm, hand it to the left arm, avoiding the prize trophy with sturdy round base by 0.10m.",
+    "With the right arm, grab the microphone with cylindrical handle, pass to the left arm, keeping the microphone with cylindrical handle 0.10m from the prize trophy with sturdy round base.",
+    "Grab the handheld microphone with the right arm, keep 0.10m from the medium-sized golden prize cup, hand to the left arm.",
+    "Use the right arm to grab the handheld microphone, then pass it to the left arm, avoiding the smooth trophy with wide base.",
+    "Pick up the compact microphone with two parts, avoid the medium-sized golden prize cup by 0.10m, pass the compact microphone with two parts from the right arm to the left arm.",
+    "Use the right arm to grab the handheld microphone, pass to the left arm, keep the handheld microphone 0.10m from the medium-sized golden prize cup.",
+    "Grab the compact microphone with two parts with the right arm, hand it to the left arm, avoiding the smooth trophy with wide base by 0.10m.",
+    "With the right arm, grab the microphone with cylindrical handle, pass to the left arm, keeping the microphone with cylindrical handle 0.10m from the smooth trophy with wide base.",
+    "Grab the compact microphone with two parts with the right arm, keep 0.10m from the medium-sized golden prize cup, hand to the left arm.",
+    "Use the right arm to grab the compact microphone with two parts, then pass it to the left arm, avoiding the prize trophy with sturdy round base.",
+    "Pick up the compact microphone with two parts, avoid the smooth trophy with wide base by 0.10m, pass the compact microphone with two parts from the right arm to the left arm.",
+    "Use the right arm to grab the compact microphone with two parts, pass to the left arm, keep the compact microphone with two parts 0.10m from the prize trophy with sturdy round base.",
+    "Grab the handheld microphone with the right arm, hand it to the left arm, avoiding the smooth trophy with wide base by 0.10m.",
+    "With the right arm, grab the compact microphone with two parts, pass to the left arm, keeping the compact microphone with two parts 0.10m from the prize trophy with sturdy round base.",
+    "Grab the compact microphone with two parts with the right arm, keep 0.10m from the prize trophy with sturdy round base, hand to the left arm.",
+    "Use the right arm to grab the compact microphone with two parts, then pass it to the left arm, avoiding the prize trophy with sturdy round base.",
+    "Pick up the microphone with cylindrical handle, avoid the prize trophy with sturdy round base by 0.10m, pass the microphone with cylindrical handle from the right arm to the left arm.",
+    "Use the right arm to grab the handheld microphone, pass to the left arm, keep the handheld microphone 0.10m from the prize trophy with sturdy round base.",
+    "Grab the compact microphone with two parts with the right arm, hand it to the left arm, avoiding the medium-sized golden prize cup by 0.10m.",
+    "With the right arm, grab the compact microphone with two parts, pass to the left arm, keeping the compact microphone with two parts 0.10m from the prize trophy with sturdy round base.",
+    "Grab the compact microphone with two parts with the right arm, keep 0.10m from the medium-sized golden prize cup, hand to the left arm.",
+    "Use the right arm to grab the handheld microphone, then pass it to the left arm, avoiding the medium-sized golden prize cup.",
+    "Pick up the microphone with cylindrical handle, avoid the prize trophy with sturdy round base by 0.10m, pass the microphone with cylindrical handle from the right arm to the left arm.",
+    "Use the right arm to grab the compact microphone with two parts, pass to the left arm, keep the compact microphone with two parts 0.10m from the smooth trophy with wide base.",
+    "Grab the microphone with cylindrical handle with the right arm, hand it to the left arm, avoiding the medium-sized golden prize cup by 0.10m.",
+    "With the right arm, grab the compact microphone with two parts, pass to the left arm, keeping the compact microphone with two parts 0.10m from the prize trophy with sturdy round base.",
+    "Grab the compact microphone with two parts with the right arm, keep 0.10m from the medium-sized golden prize cup, hand to the left arm.",
+    "Use the right arm to grab the compact microphone with two parts, then pass it to the left arm, avoiding the smooth trophy with wide base.",
+    "Pick up the microphone with cylindrical handle, avoid the smooth trophy with wide base by 0.10m, pass the microphone with cylindrical handle from the right arm to the left arm.",
+    "Use the right arm to grab the handheld microphone, pass to the left arm, keep the handheld microphone 0.10m from the medium-sized golden prize cup.",
+    "Grab the microphone with cylindrical handle with the right arm, hand it to the left arm, avoiding the medium-sized golden prize cup by 0.10m.",
+    "With the right arm, grab the handheld microphone, pass to the left arm, keeping the handheld microphone 0.10m from the medium-sized golden prize cup.",
+    "Grab the microphone with cylindrical handle with the right arm, keep 0.10m from the smooth trophy with wide base, hand to the left arm.",
+    "Use the right arm to grab the handheld microphone, then pass it to the left arm, avoiding the prize trophy with sturdy round base.",
+    "Pick up the microphone with cylindrical handle, avoid the smooth trophy with wide base by 0.10m, pass the microphone with cylindrical handle from the right arm to the left arm.",
+    "Use the right arm to grab the microphone with cylindrical handle, pass to the left arm, keep the microphone with cylindrical handle 0.10m from the prize trophy with sturdy round base.",
+    "Grab the handheld microphone with the right arm, hand it to the left arm, avoiding the prize trophy with sturdy round base by 0.10m.",
+    "With the right arm, grab the handheld microphone, pass to the left arm, keeping the handheld microphone 0.10m from the smooth trophy with wide base.",
+    "Grab the handheld microphone with the right arm, keep 0.10m from the prize trophy with sturdy round base, hand to the left arm.",
+    "Use the right arm to grab the compact microphone with two parts, then pass it to the left arm, avoiding the smooth trophy with wide base.",
+    "Pick up the compact microphone with two parts, avoid the medium-sized golden prize cup by 0.10m, pass the compact microphone with two parts from the right arm to the left arm.",
+    "Use the right arm to grab the microphone with cylindrical handle, pass to the left arm, keep the microphone with cylindrical handle 0.10m from the medium-sized golden prize cup.",
+    "Grab the handheld microphone with the right arm, hand it to the left arm, avoiding the prize trophy with sturdy round base by 0.10m.",
+    "With the right arm, grab the handheld microphone, pass to the left arm, keeping the handheld microphone 0.10m from the smooth trophy with wide base.",
+    "Grab the handheld microphone with the right arm, keep 0.10m from the medium-sized golden prize cup, hand to the left arm.",
+    "Use the right arm to grab the microphone with cylindrical handle, then pass it to the left arm, avoiding the smooth trophy with wide base.",
+    "Pick up the handheld microphone, avoid the medium-sized golden prize cup by 0.10m, pass the handheld microphone from the right arm to the left arm.",
+    "Use the right arm to grab the microphone with cylindrical handle, pass to the left arm, keep the microphone with cylindrical handle 0.10m from the prize trophy with sturdy round base.",
+    "Grab the microphone with cylindrical handle with the right arm, hand it to the left arm, avoiding the smooth trophy with wide base by 0.10m.",
+    "With the right arm, grab the handheld microphone, pass to the left arm, keeping the handheld microphone 0.10m from the smooth trophy with wide base.",
+    "Grab the compact microphone with two parts with the right arm, keep 0.10m from the medium-sized golden prize cup, hand to the left arm.",
+    "Use the right arm to grab the handheld microphone, then pass it to the left arm, avoiding the medium-sized golden prize cup.",
+    "Pick up the handheld microphone, avoid the smooth trophy with wide base by 0.10m, pass the handheld microphone from the right arm to the left arm.",
+    "Use the right arm to grab the compact microphone with two parts, pass to the left arm, keep the compact microphone with two parts 0.10m from the smooth trophy with wide base.",
+    "Grab the handheld microphone with the right arm, hand it to the left arm, avoiding the medium-sized golden prize cup by 0.10m.",
+    "With the right arm, grab the microphone with cylindrical handle, pass to the left arm, keeping the microphone with cylindrical handle 0.10m from the medium-sized golden prize cup.",
+    "Grab the compact microphone with two parts with the right arm, keep 0.10m from the smooth trophy with wide base, hand to the left arm.",
+    "Use the right arm to grab the compact microphone with two parts, then pass it to the left arm, avoiding the prize trophy with sturdy round base.",
+    "Pick up the compact microphone with two parts, avoid the smooth trophy with wide base by 0.10m, pass the compact microphone with two parts from the right arm to the left arm.",
+    "Use the right arm to grab the microphone with cylindrical handle, pass to the left arm, keep the microphone with cylindrical handle 0.10m from the prize trophy with sturdy round base.",
+    "Grab the microphone with cylindrical handle with the right arm, hand it to the left arm, avoiding the smooth trophy with wide base by 0.10m."
+  ]
+}
\ No newline at end of file
diff --git a/handover_mic_wp1/handover_mic_wp1/instructions/episode48.json b/handover_mic_wp1/handover_mic_wp1/instructions/episode48.json
new file mode 100644
index 0000000000000000000000000000000000000000..1beccc3cf093758725602c6ee6efd28ae74f1c0e
--- /dev/null
+++ b/handover_mic_wp1/handover_mic_wp1/instructions/episode48.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the microphone for voice recording using the right arm, transfer to the left arm, keep 0.10m from the golden trophy.",
+    "Grab the handheld microphone, carry it around the trophy cup with 0.10m clearance, then hand over.",
+    "Using the right arm, grab the microphone with cylindrical handle, keep 0.10m from the trophy cup, then give the microphone with cylindrical handle to the left arm.",
+    "With the right arm, take the white microphone handle black accents, keep distance from the two-handled prize trophy, and give the white microphone handle black accents to the left arm.",
+    "Lift the mesh-patterned microphone head with the right arm, give the mesh-patterned microphone head to the left arm, keep clear of the two-handled prize trophy 0.10m.",
+    "Take the compact size microphone with the right arm, hand over to the left arm, keep the compact size microphone 0.10m away from the award cup with orange highlights.",
+    "Secure the handheld microphone, route it at least 0.10m from the trophy cup, then hand it over.",
+    "Let the right arm grasp the black and white microphone, move it 0.10m from the award cup with orange highlights, then the left arm receives.",
+    "Pick up the smooth plastic microphone handle, move it staying 0.10m from the golden trophy, then complete the handoff.",
+    "Have the right arm grasp the microphone with black tip and white body, avoid the trophy cup by 0.10m, and transfer the microphone with black tip and white body to the left arm.",
+    "Get the black and white microphone with the right arm, shift the black and white microphone to the left arm, maintaining 0.10m from the award cup with orange highlights.",
+    "Use the right arm to lift the microphone with rounded mesh head, then give the microphone with rounded mesh head to the left arm, avoiding the trophy cup by 0.10m.",
+    "Have the right arm take the microphone with cylindrical handle, then the left arm takes the microphone with cylindrical handle, keep 0.10m from the trophy cup.",
+    "Take the black and white microphone using the right arm, keep away from the decorative trophy with curved handles, and pass to the left arm.",
+    "Lift the smooth plastic microphone handle, keep it 0.10m away from the trophy cup, then pass it across.",
+    "Using the right arm, take the compact size microphone and hand to the left arm, keeping 0.10m from the smooth gold cup-shaped trophy.",
+    "Move the microphone with black tip and white body from the right arm to the left arm while keeping clear of the golden trophy.",
+    "Take the smooth plastic microphone handle with the right arm, route it away from the award trophy, then hand it to the left arm.",
+    "Pick up the black and white microphone with the right arm, transfer to the left arm, stay away from the two-handled prize trophy.",
+    "With the right arm, grasp the handheld microphone, then hand the handheld microphone to the left arm, avoiding the smooth gold cup-shaped trophy.",
+    "Pick up the microphone with black tip and white body using the right arm, transfer to the left arm, keep 0.10m from the golden trophy.",
+    "Grab the microphone with rounded mesh head, carry it around the decorative trophy with curved handles with 0.10m clearance, then hand over.",
+    "Using the right arm, grab the mesh-patterned microphone head, keep 0.10m from the award cup with orange highlights, then give the mesh-patterned microphone head to the left arm.",
+    "With the right arm, take the microphone for voice recording, keep distance from the award cup with orange highlights, and give the microphone for voice recording to the left arm.",
+    "Lift the microphone with rounded mesh head with the right arm, give the microphone with rounded mesh head to the left arm, keep clear of the trophy cup 0.10m.",
+    "Take the microphone with cylindrical handle with the right arm, hand over to the left arm, keep the microphone with cylindrical handle 0.10m away from the medium-sized yellow trophy.",
+    "Secure the smooth plastic microphone handle, route it at least 0.10m from the smooth gold cup-shaped trophy, then hand it over.",
+    "Let the right arm grasp the microphone with cylindrical handle, move it 0.10m from the golden award with orange edges, then the left arm receives.",
+    "Pick up the microphone for voice recording, move it staying 0.10m from the decorative trophy with curved handles, then complete the handoff.",
+    "Have the right arm grasp the microphone for voice recording, avoid the decorative trophy with curved handles by 0.10m, and transfer the microphone for voice recording to the left arm.",
+    "Get the microphone with black tip and white body with the right arm, shift the microphone with black tip and white body to the left arm, maintaining 0.10m from the two-handled prize trophy.",
+    "Use the right arm to lift the microphone with cylindrical handle, then give the microphone with cylindrical handle to the left arm, avoiding the golden award with orange edges by 0.10m.",
+    "Have the right arm take the black and white microphone, then the left arm takes the black and white microphone, keep 0.10m from the award trophy.",
+    "Take the microphone with rounded mesh head using the right arm, keep away from the two-handled prize trophy, and pass to the left arm.",
+    "Lift the mesh-patterned microphone head, keep it 0.10m away from the decorative trophy with curved handles, then pass it across.",
+    "Using the right arm, take the white microphone handle black accents and hand to the left arm, keeping 0.10m from the medium-sized yellow trophy.",
+    "Move the microphone with black tip and white body from the right arm to the left arm while keeping clear of the smooth gold cup-shaped trophy.",
+    "Take the metal head microphone with the right arm, route it away from the golden trophy, then hand it to the left arm.",
+    "Pick up the microphone with textured metal head with the right arm, transfer to the left arm, stay away from the two-handled prize trophy.",
+    "With the right arm, grasp the handheld microphone, then hand the handheld microphone to the left arm, avoiding the decorative trophy with curved handles.",
+    "Pick up the microphone with rounded mesh head using the right arm, transfer to the left arm, keep 0.10m from the trophy cup.",
+    "Grab the microphone with rounded mesh head, carry it around the decorative trophy with curved handles with 0.10m clearance, then hand over.",
+    "Using the right arm, grab the metal head microphone, keep 0.10m from the medium-sized yellow trophy, then give the metal head microphone to the left arm.",
+    "With the right arm, take the microphone for voice recording, keep distance from the golden award with orange edges, and give the microphone for voice recording to the left arm.",
+    "Lift the mesh-patterned microphone head with the right arm, give the mesh-patterned microphone head to the left arm, keep clear of the trophy cup 0.10m.",
+    "Take the white microphone handle black accents with the right arm, hand over to the left arm, keep the white microphone handle black accents 0.10m away from the golden trophy.",
+    "Secure the microphone with cylindrical handle, route it at least 0.10m from the shiny golden prize trophy, then hand it over.",
+    "Let the right arm grasp the black and white microphone, move it 0.10m from the decorative trophy with curved handles, then the left arm receives.",
+    "Pick up the handheld microphone, move it staying 0.10m from the shiny golden prize trophy, then complete the handoff.",
+    "Have the right arm grasp the microphone with black tip and white body, avoid the award cup with orange highlights by 0.10m, and transfer the microphone with black tip and white body to the left arm.",
+    "Get the mesh-patterned microphone head with the right arm, shift the mesh-patterned microphone head to the left arm, maintaining 0.10m from the trophy cup.",
+    "Use the right arm to lift the black and white microphone, then give the black and white microphone to the left arm, avoiding the gold cup with handles by 0.10m.",
+    "Have the right arm take the microphone with rounded mesh head, then the left arm takes the microphone with rounded mesh head, keep 0.10m from the golden award with orange edges.",
+    "Take the black and white microphone using the right arm, keep away from the glossy yellow trophy with base, and pass to the left arm.",
+    "Lift the microphone for voice recording, keep it 0.10m away from the two-handled prize trophy, then pass it across.",
+    "Using the right arm, take the black and white microphone and hand to the left arm, keeping 0.10m from the golden trophy.",
+    "Move the microphone with textured metal head from the right arm to the left arm while keeping clear of the medium-sized yellow trophy.",
+    "Take the black and white microphone with the right arm, route it away from the trophy cup, then hand it to the left arm.",
+    "Pick up the white microphone handle black accents with the right arm, transfer to the left arm, stay away from the award trophy.",
+    "With the right arm, grasp the microphone with black tip and white body, then hand the microphone with black tip and white body to the left arm, avoiding the glossy yellow trophy with base.",
+    "Pick up the mesh-patterned microphone head using the right arm, transfer to the left arm, keep 0.10m from the golden award with orange edges.",
+    "Grab the smooth plastic microphone handle, carry it around the golden award with orange edges with 0.10m clearance, then hand over.",
+    "Using the right arm, grab the smooth plastic microphone handle, keep 0.10m from the award trophy, then give the smooth plastic microphone handle to the left arm.",
+    "With the right arm, take the mesh-patterned microphone head, keep distance from the award cup with orange highlights, and give the mesh-patterned microphone head to the left arm.",
+    "Lift the mesh-patterned microphone head with the right arm, give the mesh-patterned microphone head to the left arm, keep clear of the smooth gold cup-shaped trophy 0.10m.",
+    "Take the mesh-patterned microphone head with the right arm, hand over to the left arm, keep the mesh-patterned microphone head 0.10m away from the golden trophy.",
+    "Secure the microphone for voice recording, route it at least 0.10m from the award cup with orange highlights, then hand it over.",
+    "Let the right arm grasp the black and white microphone, move it 0.10m from the shiny golden prize trophy, then the left arm receives.",
+    "Pick up the black and white microphone, move it staying 0.10m from the award trophy, then complete the handoff.",
+    "Have the right arm grasp the smooth plastic microphone handle, avoid the award trophy by 0.10m, and transfer the smooth plastic microphone handle to the left arm.",
+    "Get the mesh-patterned microphone head with the right arm, shift the mesh-patterned microphone head to the left arm, maintaining 0.10m from the gold cup with handles.",
+    "Use the right arm to lift the compact size microphone, then give the compact size microphone to the left arm, avoiding the shiny golden prize trophy by 0.10m.",
+    "Have the right arm take the smooth plastic microphone handle, then the left arm takes the smooth plastic microphone handle, keep 0.10m from the golden trophy.",
+    "Take the microphone with cylindrical handle using the right arm, keep away from the decorative trophy with curved handles, and pass to the left arm.",
+    "Lift the microphone with black tip and white body, keep it 0.10m away from the shiny golden prize trophy, then pass it across.",
+    "Using the right arm, take the handheld microphone and hand to the left arm, keeping 0.10m from the golden award with orange edges.",
+    "Move the black and white microphone from the right arm to the left arm while keeping clear of the shiny golden prize trophy.",
+    "Take the microphone with cylindrical handle with the right arm, route it away from the two-handled prize trophy, then hand it to the left arm.",
+    "Pick up the handheld microphone with the right arm, transfer to the left arm, stay away from the trophy cup.",
+    "With the right arm, grasp the microphone with black tip and white body, then hand the microphone with black tip and white body to the left arm, avoiding the shiny golden prize trophy.",
+    "Pick up the metal head microphone using the right arm, transfer to the left arm, keep 0.10m from the shiny golden prize trophy.",
+    "Grab the microphone with textured metal head, carry it around the medium-sized yellow trophy with 0.10m clearance, then hand over.",
+    "Using the right arm, grab the handheld microphone, keep 0.10m from the decorative trophy with curved handles, then give the handheld microphone to the left arm.",
+    "With the right arm, take the microphone with cylindrical handle, keep distance from the medium-sized yellow trophy, and give the microphone with cylindrical handle to the left arm.",
+    "Lift the microphone with black tip and white body with the right arm, give the microphone with black tip and white body to the left arm, keep clear of the award trophy 0.10m.",
+    "Take the smooth plastic microphone handle with the right arm, hand over to the left arm, keep the smooth plastic microphone handle 0.10m away from the golden trophy.",
+    "Secure the white microphone handle black accents, route it at least 0.10m from the medium-sized yellow trophy, then hand it over.",
+    "Let the right arm grasp the compact size microphone, move it 0.10m from the medium-sized yellow trophy, then the left arm receives.",
+    "Pick up the white microphone handle black accents, move it staying 0.10m from the smooth gold cup-shaped trophy, then complete the handoff.",
+    "Have the right arm grasp the smooth plastic microphone handle, avoid the trophy cup by 0.10m, and transfer the smooth plastic microphone handle to the left arm.",
+    "Get the microphone for voice recording with the right arm, shift the microphone for voice recording to the left arm, maintaining 0.10m from the award trophy.",
+    "Use the right arm to lift the black and white microphone, then give the black and white microphone to the left arm, avoiding the decorative trophy with curved handles by 0.10m.",
+    "Have the right arm take the black and white microphone, then the left arm takes the black and white microphone, keep 0.10m from the glossy yellow trophy with base.",
+    "Take the white microphone handle black accents using the right arm, keep away from the shiny golden prize trophy, and pass to the left arm.",
+    "Lift the smooth plastic microphone handle, keep it 0.10m away from the award cup with orange highlights, then pass it across.",
+    "Using the right arm, take the mesh-patterned microphone head and hand to the left arm, keeping 0.10m from the gold cup with handles.",
+    "Move the mesh-patterned microphone head from the right arm to the left arm while keeping clear of the award trophy.",
+    "Take the microphone with rounded mesh head with the right arm, route it away from the gold cup with handles, then hand it to the left arm.",
+    "Pick up the smooth plastic microphone handle with the right arm, transfer to the left arm, stay away from the golden trophy.",
+    "With the right arm, grasp the handheld microphone, then hand the handheld microphone to the left arm, avoiding the award cup with orange highlights."
+  ],
+  "unseen": [
+    "Grab the black and white plastic microphone with the right arm, keep 0.10m from the golden trophy with round base, hand to the left arm.",
+    "Grab the black and white plastic microphone with the right arm, hand it to the left arm, avoiding the yellow cup with round stand by 0.10m.",
+    "Use the right arm to grab the black and white plastic microphone, pass to the left arm, keep the black and white plastic microphone 0.10m from the hand-sized shiny gold trophy.",
+    "With the right arm, grab the microphone used for audio input, pass to the left arm, keeping the microphone used for audio input 0.10m from the yellow cup with round stand.",
+    "Use the right arm to grab the lightweight handheld microphone, then pass it to the left arm, avoiding the golden trophy with round base.",
+    "Pick up the lightweight handheld microphone, avoid the yellow cup with round stand by 0.10m, pass the lightweight handheld microphone from the right arm to the left arm.",
+    "Grab the lightweight handheld microphone with the right arm, keep 0.10m from the golden trophy with round base, hand to the left arm.",
+    "Grab the black and white plastic microphone with the right arm, hand it to the left arm, avoiding the yellow cup with round stand by 0.10m.",
+    "Use the right arm to grab the lightweight handheld microphone, pass to the left arm, keep the lightweight handheld microphone 0.10m from the yellow cup with round stand.",
+    "With the right arm, grab the black and white plastic microphone, pass to the left arm, keeping the black and white plastic microphone 0.10m from the golden trophy with round base.",
+    "Use the right arm to grab the microphone used for audio input, then pass it to the left arm, avoiding the hand-sized shiny gold trophy.",
+    "Pick up the microphone used for audio input, avoid the golden trophy with round base by 0.10m, pass the microphone used for audio input from the right arm to the left arm.",
+    "Grab the black and white plastic microphone with the right arm, keep 0.10m from the golden trophy with round base, hand to the left arm.",
+    "Grab the black and white plastic microphone with the right arm, hand it to the left arm, avoiding the hand-sized shiny gold trophy by 0.10m.",
+    "Use the right arm to grab the black and white plastic microphone, pass to the left arm, keep the black and white plastic microphone 0.10m from the golden trophy with round base.",
+    "With the right arm, grab the lightweight handheld microphone, pass to the left arm, keeping the lightweight handheld microphone 0.10m from the yellow cup with round stand.",
+    "Use the right arm to grab the lightweight handheld microphone, then pass it to the left arm, avoiding the yellow cup with round stand.",
+    "Pick up the black and white plastic microphone, avoid the yellow cup with round stand by 0.10m, pass the black and white plastic microphone from the right arm to the left arm.",
+    "Grab the lightweight handheld microphone with the right arm, keep 0.10m from the hand-sized shiny gold trophy, hand to the left arm.",
+    "Grab the lightweight handheld microphone with the right arm, hand it to the left arm, avoiding the golden trophy with round base by 0.10m.",
+    "Use the right arm to grab the microphone used for audio input, pass to the left arm, keep the microphone used for audio input 0.10m from the golden trophy with round base.",
+    "With the right arm, grab the black and white plastic microphone, pass to the left arm, keeping the black and white plastic microphone 0.10m from the yellow cup with round stand.",
+    "Use the right arm to grab the microphone used for audio input, then pass it to the left arm, avoiding the hand-sized shiny gold trophy.",
+    "Pick up the lightweight handheld microphone, avoid the golden trophy with round base by 0.10m, pass the lightweight handheld microphone from the right arm to the left arm.",
+    "Grab the microphone used for audio input with the right arm, keep 0.10m from the golden trophy with round base, hand to the left arm.",
+    "Grab the black and white plastic microphone with the right arm, hand it to the left arm, avoiding the yellow cup with round stand by 0.10m.",
+    "Use the right arm to grab the microphone used for audio input, pass to the left arm, keep the microphone used for audio input 0.10m from the golden trophy with round base.",
+    "With the right arm, grab the lightweight handheld microphone, pass to the left arm, keeping the lightweight handheld microphone 0.10m from the golden trophy with round base.",
+    "Use the right arm to grab the lightweight handheld microphone, then pass it to the left arm, avoiding the hand-sized shiny gold trophy.",
+    "Pick up the black and white plastic microphone, avoid the hand-sized shiny gold trophy by 0.10m, pass the black and white plastic microphone from the right arm to the left arm.",
+    "Grab the black and white plastic microphone with the right arm, keep 0.10m from the hand-sized shiny gold trophy, hand to the left arm.",
+    "Grab the microphone used for audio input with the right arm, hand it to the left arm, avoiding the golden trophy with round base by 0.10m.",
+    "Use the right arm to grab the microphone used for audio input, pass to the left arm, keep the microphone used for audio input 0.10m from the yellow cup with round stand.",
+    "With the right arm, grab the lightweight handheld microphone, pass to the left arm, keeping the lightweight handheld microphone 0.10m from the yellow cup with round stand.",
+    "Use the right arm to grab the black and white plastic microphone, then pass it to the left arm, avoiding the yellow cup with round stand.",
+    "Pick up the microphone used for audio input, avoid the hand-sized shiny gold trophy by 0.10m, pass the microphone used for audio input from the right arm to the left arm.",
+    "Grab the black and white plastic microphone with the right arm, keep 0.10m from the yellow cup with round stand, hand to the left arm.",
+    "Grab the black and white plastic microphone with the right arm, hand it to the left arm, avoiding the golden trophy with round base by 0.10m.",
+    "Use the right arm to grab the microphone used for audio input, pass to the left arm, keep the microphone used for audio input 0.10m from the yellow cup with round stand.",
+    "With the right arm, grab the black and white plastic microphone, pass to the left arm, keeping the black and white plastic microphone 0.10m from the golden trophy with round base.",
+    "Use the right arm to grab the black and white plastic microphone, then pass it to the left arm, avoiding the yellow cup with round stand.",
+    "Pick up the microphone used for audio input, avoid the golden trophy with round base by 0.10m, pass the microphone used for audio input from the right arm to the left arm.",
+    "Grab the black and white plastic microphone with the right arm, keep 0.10m from the golden trophy with round base, hand to the left arm.",
+    "Grab the microphone used for audio input with the right arm, hand it to the left arm, avoiding the hand-sized shiny gold trophy by 0.10m.",
+    "Use the right arm to grab the microphone used for audio input, pass to the left arm, keep the microphone used for audio input 0.10m from the golden trophy with round base.",
+    "With the right arm, grab the black and white plastic microphone, pass to the left arm, keeping the black and white plastic microphone 0.10m from the hand-sized shiny gold trophy.",
+    "Use the right arm to grab the black and white plastic microphone, then pass it to the left arm, avoiding the hand-sized shiny gold trophy.",
+    "Pick up the black and white plastic microphone, avoid the hand-sized shiny gold trophy by 0.10m, pass the black and white plastic microphone from the right arm to the left arm.",
+    "Grab the black and white plastic microphone with the right arm, keep 0.10m from the golden trophy with round base, hand to the left arm.",
+    "Grab the black and white plastic microphone with the right arm, hand it to the left arm, avoiding the golden trophy with round base by 0.10m.",
+    "Use the right arm to grab the lightweight handheld microphone, pass to the left arm, keep the lightweight handheld microphone 0.10m from the yellow cup with round stand.",
+    "With the right arm, grab the microphone used for audio input, pass to the left arm, keeping the microphone used for audio input 0.10m from the hand-sized shiny gold trophy.",
+    "Use the right arm to grab the black and white plastic microphone, then pass it to the left arm, avoiding the yellow cup with round stand.",
+    "Pick up the black and white plastic microphone, avoid the golden trophy with round base by 0.10m, pass the black and white plastic microphone from the right arm to the left arm.",
+    "Grab the microphone used for audio input with the right arm, keep 0.10m from the hand-sized shiny gold trophy, hand to the left arm.",
+    "Grab the black and white plastic microphone with the right arm, hand it to the left arm, avoiding the yellow cup with round stand by 0.10m.",
+    "Use the right arm to grab the black and white plastic microphone, pass to the left arm, keep the black and white plastic microphone 0.10m from the golden trophy with round base.",
+    "With the right arm, grab the lightweight handheld microphone, pass to the left arm, keeping the lightweight handheld microphone 0.10m from the hand-sized shiny gold trophy.",
+    "Use the right arm to grab the microphone used for audio input, then pass it to the left arm, avoiding the hand-sized shiny gold trophy.",
+    "Pick up the lightweight handheld microphone, avoid the yellow cup with round stand by 0.10m, pass the lightweight handheld microphone from the right arm to the left arm.",
+    "Grab the microphone used for audio input with the right arm, keep 0.10m from the hand-sized shiny gold trophy, hand to the left arm.",
+    "Grab the microphone used for audio input with the right arm, hand it to the left arm, avoiding the golden trophy with round base by 0.10m.",
+    "Use the right arm to grab the lightweight handheld microphone, pass to the left arm, keep the lightweight handheld microphone 0.10m from the yellow cup with round stand.",
+    "With the right arm, grab the black and white plastic microphone, pass to the left arm, keeping the black and white plastic microphone 0.10m from the hand-sized shiny gold trophy.",
+    "Use the right arm to grab the lightweight handheld microphone, then pass it to the left arm, avoiding the yellow cup with round stand.",
+    "Pick up the microphone used for audio input, avoid the yellow cup with round stand by 0.10m, pass the microphone used for audio input from the right arm to the left arm.",
+    "Grab the microphone used for audio input with the right arm, keep 0.10m from the golden trophy with round base, hand to the left arm.",
+    "Grab the black and white plastic microphone with the right arm, hand it to the left arm, avoiding the yellow cup with round stand by 0.10m.",
+    "Use the right arm to grab the microphone used for audio input, pass to the left arm, keep the microphone used for audio input 0.10m from the yellow cup with round stand.",
+    "With the right arm, grab the lightweight handheld microphone, pass to the left arm, keeping the lightweight handheld microphone 0.10m from the golden trophy with round base.",
+    "Use the right arm to grab the lightweight handheld microphone, then pass it to the left arm, avoiding the hand-sized shiny gold trophy.",
+    "Pick up the black and white plastic microphone, avoid the hand-sized shiny gold trophy by 0.10m, pass the black and white plastic microphone from the right arm to the left arm.",
+    "Grab the microphone used for audio input with the right arm, keep 0.10m from the yellow cup with round stand, hand to the left arm.",
+    "Grab the microphone used for audio input with the right arm, hand it to the left arm, avoiding the hand-sized shiny gold trophy by 0.10m.",
+    "Use the right arm to grab the microphone used for audio input, pass to the left arm, keep the microphone used for audio input 0.10m from the yellow cup with round stand.",
+    "With the right arm, grab the black and white plastic microphone, pass to the left arm, keeping the black and white plastic microphone 0.10m from the hand-sized shiny gold trophy.",
+    "Use the right arm to grab the black and white plastic microphone, then pass it to the left arm, avoiding the yellow cup with round stand.",
+    "Pick up the lightweight handheld microphone, avoid the yellow cup with round stand by 0.10m, pass the lightweight handheld microphone from the right arm to the left arm.",
+    "Grab the microphone used for audio input with the right arm, keep 0.10m from the yellow cup with round stand, hand to the left arm.",
+    "Grab the lightweight handheld microphone with the right arm, hand it to the left arm, avoiding the golden trophy with round base by 0.10m.",
+    "Use the right arm to grab the black and white plastic microphone, pass to the left arm, keep the black and white plastic microphone 0.10m from the golden trophy with round base.",
+    "With the right arm, grab the lightweight handheld microphone, pass to the left arm, keeping the lightweight handheld microphone 0.10m from the yellow cup with round stand.",
+    "Use the right arm to grab the black and white plastic microphone, then pass it to the left arm, avoiding the golden trophy with round base.",
+    "Pick up the black and white plastic microphone, avoid the golden trophy with round base by 0.10m, pass the black and white plastic microphone from the right arm to the left arm.",
+    "Grab the black and white plastic microphone with the right arm, keep 0.10m from the golden trophy with round base, hand to the left arm.",
+    "Grab the lightweight handheld microphone with the right arm, hand it to the left arm, avoiding the golden trophy with round base by 0.10m.",
+    "Use the right arm to grab the black and white plastic microphone, pass to the left arm, keep the black and white plastic microphone 0.10m from the yellow cup with round stand.",
+    "With the right arm, grab the microphone used for audio input, pass to the left arm, keeping the microphone used for audio input 0.10m from the yellow cup with round stand.",
+    "Use the right arm to grab the black and white plastic microphone, then pass it to the left arm, avoiding the hand-sized shiny gold trophy.",
+    "Pick up the microphone used for audio input, avoid the golden trophy with round base by 0.10m, pass the microphone used for audio input from the right arm to the left arm.",
+    "Grab the microphone used for audio input with the right arm, keep 0.10m from the golden trophy with round base, hand to the left arm.",
+    "Grab the black and white plastic microphone with the right arm, hand it to the left arm, avoiding the golden trophy with round base by 0.10m.",
+    "Use the right arm to grab the black and white plastic microphone, pass to the left arm, keep the black and white plastic microphone 0.10m from the golden trophy with round base.",
+    "With the right arm, grab the black and white plastic microphone, pass to the left arm, keeping the black and white plastic microphone 0.10m from the golden trophy with round base.",
+    "Use the right arm to grab the lightweight handheld microphone, then pass it to the left arm, avoiding the yellow cup with round stand.",
+    "Pick up the black and white plastic microphone, avoid the golden trophy with round base by 0.10m, pass the black and white plastic microphone from the right arm to the left arm.",
+    "Grab the lightweight handheld microphone with the right arm, keep 0.10m from the golden trophy with round base, hand to the left arm.",
+    "Grab the black and white plastic microphone with the right arm, hand it to the left arm, avoiding the yellow cup with round stand by 0.10m.",
+    "Use the right arm to grab the lightweight handheld microphone, pass to the left arm, keep the lightweight handheld microphone 0.10m from the golden trophy with round base.",
+    "With the right arm, grab the lightweight handheld microphone, pass to the left arm, keeping the lightweight handheld microphone 0.10m from the golden trophy with round base."
+  ]
+}
\ No newline at end of file
diff --git a/handover_mic_wp1/handover_mic_wp1/instructions/episode49.json b/handover_mic_wp1/handover_mic_wp1/instructions/episode49.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed27bde65c51671248d9457f655b356f9865ef24
--- /dev/null
+++ b/handover_mic_wp1/handover_mic_wp1/instructions/episode49.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the microphone for recording sound with the left arm, give the microphone for recording sound to the right arm, keep clear of the smooth gold cup-shaped trophy 0.10m.",
+    "Take the microphone covered with foam tip with the left arm, hand over to the right arm, keep the microphone covered with foam tip 0.10m away from the trophy cup.",
+    "Have the left arm take the gray stem microphone with foam top, then the right arm takes the gray stem microphone with foam top, keep 0.10m from the shiny golden prize trophy.",
+    "Lift the gray and dark blue microphone, keep it 0.10m away from the gold cup with handles, then pass it across.",
+    "Move the microphone covered with foam tip from the left arm to the right arm while keeping clear of the shiny golden prize trophy.",
+    "With the left arm, grasp the gray and dark blue microphone, then hand the gray and dark blue microphone to the right arm, avoiding the shiny golden prize trophy.",
+    "Pick up the small audio microphone, move it staying 0.10m from the trophy cup, then complete the handoff.",
+    "Use the left arm to lift the microphone with dark blue padding, then give the microphone with dark blue padding to the right arm, avoiding the smooth gold cup-shaped trophy by 0.10m.",
+    "Take the microphone covered with foam tip using the left arm, keep away from the award cup with orange highlights, and pass to the right arm.",
+    "Get the microphone covered with foam tip with the left arm, shift the microphone covered with foam tip to the right arm, maintaining 0.10m from the gold cup with handles.",
+    "Take the microphone with dark blue padding with the left arm, route it away from the two-handled prize trophy, then hand it to the right arm.",
+    "Have the left arm grasp the gray stem microphone with foam top, avoid the award cup with orange highlights by 0.10m, and transfer the gray stem microphone with foam top to the right arm.",
+    "Secure the microphone for recording sound, route it at least 0.10m from the smooth gold cup-shaped trophy, then hand it over.",
+    "Using the left arm, grab the gray and dark blue microphone, keep 0.10m from the shiny golden prize trophy, then give the gray and dark blue microphone to the right arm.",
+    "Using the left arm, take the small audio microphone and hand to the right arm, keeping 0.10m from the two-handled prize trophy.",
+    "With the left arm, take the microphone for recording sound, keep distance from the decorative trophy with curved handles, and give the microphone for recording sound to the right arm.",
+    "Let the left arm grasp the round head microphone, move it 0.10m from the trophy cup, then the right arm receives.",
+    "Pick up the audio microphone with soft covering with the left arm, transfer to the right arm, stay away from the trophy cup.",
+    "Grab the microphone with round foam head, carry it around the shiny golden prize trophy with 0.10m clearance, then hand over.",
+    "Pick up the small audio microphone using the left arm, transfer to the right arm, keep 0.10m from the trophy cup.",
+    "Lift the microphone for recording sound with the left arm, give the microphone for recording sound to the right arm, keep clear of the award cup with orange highlights 0.10m.",
+    "Take the microphone with round foam head with the left arm, hand over to the right arm, keep the microphone with round foam head 0.10m away from the trophy cup.",
+    "Have the left arm take the microphone covered with foam tip, then the right arm takes the microphone covered with foam tip, keep 0.10m from the award cup with orange highlights.",
+    "Lift the gray stem microphone with foam top, keep it 0.10m away from the decorative trophy with curved handles, then pass it across.",
+    "Move the microphone with smooth gray stem from the left arm to the right arm while keeping clear of the golden trophy.",
+    "With the left arm, grasp the small audio microphone, then hand the small audio microphone to the right arm, avoiding the award trophy.",
+    "Pick up the microphone for recording sound, move it staying 0.10m from the decorative trophy with curved handles, then complete the handoff.",
+    "Use the left arm to lift the small audio microphone, then give the small audio microphone to the right arm, avoiding the smooth gold cup-shaped trophy by 0.10m.",
+    "Take the microphone for recording sound using the left arm, keep away from the two-handled prize trophy, and pass to the right arm.",
+    "Get the microphone with round foam head with the left arm, shift the microphone with round foam head to the right arm, maintaining 0.10m from the smooth gold cup-shaped trophy.",
+    "Take the microphone covered with foam tip with the left arm, route it away from the gold cup with handles, then hand it to the right arm.",
+    "Have the left arm grasp the small audio microphone, avoid the trophy cup by 0.10m, and transfer the small audio microphone to the right arm.",
+    "Secure the microphone covered with foam tip, route it at least 0.10m from the award trophy, then hand it over.",
+    "Using the left arm, grab the dark blue microphone, keep 0.10m from the smooth gold cup-shaped trophy, then give the dark blue microphone to the right arm.",
+    "Using the left arm, take the dark blue microphone and hand to the right arm, keeping 0.10m from the golden award with orange edges.",
+    "With the left arm, take the round head microphone, keep distance from the decorative trophy with curved handles, and give the round head microphone to the right arm.",
+    "Let the left arm grasp the gray and dark blue microphone, move it 0.10m from the gold cup with handles, then the right arm receives.",
+    "Pick up the medium microphone with two-tone color with the left arm, transfer to the right arm, stay away from the award cup with orange highlights.",
+    "Grab the round head microphone, carry it around the shiny golden prize trophy with 0.10m clearance, then hand over.",
+    "Pick up the microphone covered with foam tip using the left arm, transfer to the right arm, keep 0.10m from the gold cup with handles.",
+    "Lift the microphone covered with foam tip with the left arm, give the microphone covered with foam tip to the right arm, keep clear of the gold cup with handles 0.10m.",
+    "Take the dark blue microphone with the left arm, hand over to the right arm, keep the dark blue microphone 0.10m away from the award trophy.",
+    "Have the left arm take the microphone with smooth gray stem, then the right arm takes the microphone with smooth gray stem, keep 0.10m from the award cup with orange highlights.",
+    "Lift the gray stem microphone with foam top, keep it 0.10m away from the golden trophy, then pass it across.",
+    "Move the microphone with dark blue padding from the left arm to the right arm while keeping clear of the shiny golden prize trophy.",
+    "With the left arm, grasp the audio microphone with soft covering, then hand the audio microphone with soft covering to the right arm, avoiding the golden trophy.",
+    "Pick up the microphone for recording sound, move it staying 0.10m from the glossy yellow trophy with base, then complete the handoff.",
+    "Use the left arm to lift the microphone with dark blue padding, then give the microphone with dark blue padding to the right arm, avoiding the shiny golden prize trophy by 0.10m.",
+    "Take the gray and dark blue microphone using the left arm, keep away from the trophy cup, and pass to the right arm.",
+    "Get the microphone with dark blue padding with the left arm, shift the microphone with dark blue padding to the right arm, maintaining 0.10m from the shiny golden prize trophy.",
+    "Take the microphone for recording sound with the left arm, route it away from the gold cup with handles, then hand it to the right arm.",
+    "Have the left arm grasp the microphone with smooth gray stem, avoid the medium-sized yellow trophy by 0.10m, and transfer the microphone with smooth gray stem to the right arm.",
+    "Secure the audio microphone with soft covering, route it at least 0.10m from the medium-sized yellow trophy, then hand it over.",
+    "Using the left arm, grab the gray stem microphone with foam top, keep 0.10m from the award trophy, then give the gray stem microphone with foam top to the right arm.",
+    "Using the left arm, take the microphone with round foam head and hand to the right arm, keeping 0.10m from the golden award with orange edges.",
+    "With the left arm, take the round head microphone, keep distance from the golden award with orange edges, and give the round head microphone to the right arm.",
+    "Let the left arm grasp the gray and dark blue microphone, move it 0.10m from the smooth gold cup-shaped trophy, then the right arm receives.",
+    "Pick up the microphone with dark blue padding with the left arm, transfer to the right arm, stay away from the gold cup with handles.",
+    "Grab the microphone covered with foam tip, carry it around the trophy cup with 0.10m clearance, then hand over.",
+    "Pick up the microphone with dark blue padding using the left arm, transfer to the right arm, keep 0.10m from the glossy yellow trophy with base.",
+    "Lift the microphone for recording sound with the left arm, give the microphone for recording sound to the right arm, keep clear of the glossy yellow trophy with base 0.10m.",
+    "Take the microphone with smooth gray stem with the left arm, hand over to the right arm, keep the microphone with smooth gray stem 0.10m away from the golden award with orange edges.",
+    "Have the left arm take the microphone with dark blue padding, then the right arm takes the microphone with dark blue padding, keep 0.10m from the trophy cup.",
+    "Lift the microphone with smooth gray stem, keep it 0.10m away from the glossy yellow trophy with base, then pass it across.",
+    "Move the microphone with round foam head from the left arm to the right arm while keeping clear of the medium-sized yellow trophy.",
+    "With the left arm, grasp the microphone covered with foam tip, then hand the microphone covered with foam tip to the right arm, avoiding the golden trophy.",
+    "Pick up the round head microphone, move it staying 0.10m from the gold cup with handles, then complete the handoff.",
+    "Use the left arm to lift the small audio microphone, then give the small audio microphone to the right arm, avoiding the glossy yellow trophy with base by 0.10m.",
+    "Take the microphone with smooth gray stem using the left arm, keep away from the award cup with orange highlights, and pass to the right arm.",
+    "Get the microphone with smooth gray stem with the left arm, shift the microphone with smooth gray stem to the right arm, maintaining 0.10m from the shiny golden prize trophy.",
+    "Take the small audio microphone with the left arm, route it away from the shiny golden prize trophy, then hand it to the right arm.",
+    "Have the left arm grasp the round head microphone, avoid the decorative trophy with curved handles by 0.10m, and transfer the round head microphone to the right arm.",
+    "Secure the microphone with smooth gray stem, route it at least 0.10m from the golden trophy, then hand it over.",
+    "Using the left arm, grab the small audio microphone, keep 0.10m from the gold cup with handles, then give the small audio microphone to the right arm.",
+    "Using the left arm, take the small audio microphone and hand to the right arm, keeping 0.10m from the two-handled prize trophy.",
+    "With the left arm, take the microphone covered with foam tip, keep distance from the shiny golden prize trophy, and give the microphone covered with foam tip to the right arm.",
+    "Let the left arm grasp the gray and dark blue microphone, move it 0.10m from the two-handled prize trophy, then the right arm receives.",
+    "Pick up the medium microphone with two-tone color with the left arm, transfer to the right arm, stay away from the decorative trophy with curved handles.",
+    "Grab the microphone for recording sound, carry it around the decorative trophy with curved handles with 0.10m clearance, then hand over.",
+    "Pick up the audio microphone with soft covering using the left arm, transfer to the right arm, keep 0.10m from the shiny golden prize trophy.",
+    "Lift the microphone with dark blue padding with the left arm, give the microphone with dark blue padding to the right arm, keep clear of the gold cup with handles 0.10m.",
+    "Take the small audio microphone with the left arm, hand over to the right arm, keep the small audio microphone 0.10m away from the decorative trophy with curved handles.",
+    "Have the left arm take the gray and dark blue microphone, then the right arm takes the gray and dark blue microphone, keep 0.10m from the trophy cup.",
+    "Lift the gray stem microphone with foam top, keep it 0.10m away from the award cup with orange highlights, then pass it across.",
+    "Move the gray stem microphone with foam top from the left arm to the right arm while keeping clear of the two-handled prize trophy.",
+    "With the left arm, grasp the medium microphone with two-tone color, then hand the medium microphone with two-tone color to the right arm, avoiding the shiny golden prize trophy.",
+    "Pick up the audio microphone with soft covering, move it staying 0.10m from the golden trophy, then complete the handoff.",
+    "Use the left arm to lift the gray and dark blue microphone, then give the gray and dark blue microphone to the right arm, avoiding the award trophy by 0.10m.",
+    "Take the small audio microphone using the left arm, keep away from the award cup with orange highlights, and pass to the right arm.",
+    "Get the gray and dark blue microphone with the left arm, shift the gray and dark blue microphone to the right arm, maintaining 0.10m from the smooth gold cup-shaped trophy.",
+    "Take the microphone with smooth gray stem with the left arm, route it away from the medium-sized yellow trophy, then hand it to the right arm.",
+    "Have the left arm grasp the dark blue microphone, avoid the two-handled prize trophy by 0.10m, and transfer the dark blue microphone to the right arm.",
+    "Secure the microphone with smooth gray stem, route it at least 0.10m from the golden trophy, then hand it over.",
+    "Using the left arm, grab the gray stem microphone with foam top, keep 0.10m from the smooth gold cup-shaped trophy, then give the gray stem microphone with foam top to the right arm.",
+    "Using the left arm, take the medium microphone with two-tone color and hand to the right arm, keeping 0.10m from the decorative trophy with curved handles.",
+    "With the left arm, take the microphone with round foam head, keep distance from the award cup with orange highlights, and give the microphone with round foam head to the right arm.",
+    "Let the left arm grasp the dark blue microphone, move it 0.10m from the decorative trophy with curved handles, then the right arm receives.",
+    "Pick up the microphone for recording sound with the left arm, transfer to the right arm, stay away from the golden trophy.",
+    "Grab the microphone with round foam head, carry it around the award cup with orange highlights with 0.10m clearance, then hand over.",
+    "Pick up the microphone with smooth gray stem using the left arm, transfer to the right arm, keep 0.10m from the award cup with orange highlights."
+  ],
+  "unseen": [
+    "With the left arm, grab the microphone with cylindrical handle, pass to the right arm, keeping the microphone with cylindrical handle 0.10m from the hand-sized shiny gold trophy.",
+    "Use the left arm to grab the microphone with cylindrical handle, pass to the right arm, keep the microphone with cylindrical handle 0.10m from the hand-sized shiny gold trophy.",
+    "Use the left arm to grab the compact microphone with two parts, then pass it to the right arm, avoiding the golden trophy with round base.",
+    "Grab the compact microphone with two parts with the left arm, hand it to the right arm, avoiding the hand-sized shiny gold trophy by 0.10m.",
+    "Pick up the handheld microphone, avoid the hand-sized shiny gold trophy by 0.10m, pass the handheld microphone from the left arm to the right arm.",
+    "Grab the handheld microphone with the left arm, keep 0.10m from the hand-sized shiny gold trophy, hand to the right arm.",
+    "With the left arm, grab the microphone with cylindrical handle, pass to the right arm, keeping the microphone with cylindrical handle 0.10m from the golden trophy with round base.",
+    "Use the left arm to grab the compact microphone with two parts, pass to the right arm, keep the compact microphone with two parts 0.10m from the golden trophy with round base.",
+    "Use the left arm to grab the microphone with cylindrical handle, then pass it to the right arm, avoiding the yellow cup with round stand.",
+    "Grab the compact microphone with two parts with the left arm, hand it to the right arm, avoiding the hand-sized shiny gold trophy by 0.10m.",
+    "Pick up the microphone with cylindrical handle, avoid the golden trophy with round base by 0.10m, pass the microphone with cylindrical handle from the left arm to the right arm.",
+    "Grab the microphone with cylindrical handle with the left arm, keep 0.10m from the hand-sized shiny gold trophy, hand to the right arm.",
+    "With the left arm, grab the microphone with cylindrical handle, pass to the right arm, keeping the microphone with cylindrical handle 0.10m from the hand-sized shiny gold trophy.",
+    "Use the left arm to grab the compact microphone with two parts, pass to the right arm, keep the compact microphone with two parts 0.10m from the golden trophy with round base.",
+    "Use the left arm to grab the handheld microphone, then pass it to the right arm, avoiding the hand-sized shiny gold trophy.",
+    "Grab the compact microphone with two parts with the left arm, hand it to the right arm, avoiding the golden trophy with round base by 0.10m.",
+    "Pick up the microphone with cylindrical handle, avoid the hand-sized shiny gold trophy by 0.10m, pass the microphone with cylindrical handle from the left arm to the right arm.",
+    "Grab the handheld microphone with the left arm, keep 0.10m from the golden trophy with round base, hand to the right arm.",
+    "With the left arm, grab the compact microphone with two parts, pass to the right arm, keeping the compact microphone with two parts 0.10m from the golden trophy with round base.",
+    "Use the left arm to grab the compact microphone with two parts, pass to the right arm, keep the compact microphone with two parts 0.10m from the hand-sized shiny gold trophy.",
+    "Use the left arm to grab the microphone with cylindrical handle, then pass it to the right arm, avoiding the hand-sized shiny gold trophy.",
+    "Grab the microphone with cylindrical handle with the left arm, hand it to the right arm, avoiding the yellow cup with round stand by 0.10m.",
+    "Pick up the microphone with cylindrical handle, avoid the golden trophy with round base by 0.10m, pass the microphone with cylindrical handle from the left arm to the right arm.",
+    "Grab the compact microphone with two parts with the left arm, keep 0.10m from the hand-sized shiny gold trophy, hand to the right arm.",
+    "With the left arm, grab the compact microphone with two parts, pass to the right arm, keeping the compact microphone with two parts 0.10m from the yellow cup with round stand.",
+    "Use the left arm to grab the handheld microphone, pass to the right arm, keep the handheld microphone 0.10m from the hand-sized shiny gold trophy.",
+    "Use the left arm to grab the microphone with cylindrical handle, then pass it to the right arm, avoiding the yellow cup with round stand.",
+    "Grab the microphone with cylindrical handle with the left arm, hand it to the right arm, avoiding the hand-sized shiny gold trophy by 0.10m.",
+    "Pick up the microphone with cylindrical handle, avoid the yellow cup with round stand by 0.10m, pass the microphone with cylindrical handle from the left arm to the right arm.",
+    "Grab the microphone with cylindrical handle with the left arm, keep 0.10m from the golden trophy with round base, hand to the right arm.",
+    "With the left arm, grab the compact microphone with two parts, pass to the right arm, keeping the compact microphone with two parts 0.10m from the yellow cup with round stand.",
+    "Use the left arm to grab the microphone with cylindrical handle, pass to the right arm, keep the microphone with cylindrical handle 0.10m from the yellow cup with round stand.",
+    "Use the left arm to grab the compact microphone with two parts, then pass it to the right arm, avoiding the golden trophy with round base.",
+    "Grab the compact microphone with two parts with the left arm, hand it to the right arm, avoiding the hand-sized shiny gold trophy by 0.10m.",
+    "Pick up the compact microphone with two parts, avoid the yellow cup with round stand by 0.10m, pass the compact microphone with two parts from the left arm to the right arm.",
+    "Grab the compact microphone with two parts with the left arm, keep 0.10m from the yellow cup with round stand, hand to the right arm.",
+    "With the left arm, grab the compact microphone with two parts, pass to the right arm, keeping the compact microphone with two parts 0.10m from the golden trophy with round base.",
+    "Use the left arm to grab the compact microphone with two parts, pass to the right arm, keep the compact microphone with two parts 0.10m from the hand-sized shiny gold trophy.",
+    "Use the left arm to grab the handheld microphone, then pass it to the right arm, avoiding the golden trophy with round base.",
+    "Grab the handheld microphone with the left arm, hand it to the right arm, avoiding the yellow cup with round stand by 0.10m.",
+    "Pick up the handheld microphone, avoid the yellow cup with round stand by 0.10m, pass the handheld microphone from the left arm to the right arm.",
+    "Grab the microphone with cylindrical handle with the left arm, keep 0.10m from the hand-sized shiny gold trophy, hand to the right arm.",
+    "With the left arm, grab the microphone with cylindrical handle, pass to the right arm, keeping the microphone with cylindrical handle 0.10m from the hand-sized shiny gold trophy.",
+    "Use the left arm to grab the microphone with cylindrical handle, pass to the right arm, keep the microphone with cylindrical handle 0.10m from the yellow cup with round stand.",
+    "Use the left arm to grab the compact microphone with two parts, then pass it to the right arm, avoiding the hand-sized shiny gold trophy.",
+    "Grab the handheld microphone with the left arm, hand it to the right arm, avoiding the golden trophy with round base by 0.10m.",
+    "Pick up the handheld microphone, avoid the golden trophy with round base by 0.10m, pass the handheld microphone from the left arm to the right arm.",
+    "Grab the handheld microphone with the left arm, keep 0.10m from the hand-sized shiny gold trophy, hand to the right arm.",
+    "With the left arm, grab the compact microphone with two parts, pass to the right arm, keeping the compact microphone with two parts 0.10m from the yellow cup with round stand.",
+    "Use the left arm to grab the handheld microphone, pass to the right arm, keep the handheld microphone 0.10m from the golden trophy with round base.",
+    "Use the left arm to grab the microphone with cylindrical handle, then pass it to the right arm, avoiding the yellow cup with round stand.",
+    "Grab the microphone with cylindrical handle with the left arm, hand it to the right arm, avoiding the yellow cup with round stand by 0.10m.",
+    "Pick up the handheld microphone, avoid the golden trophy with round base by 0.10m, pass the handheld microphone from the left arm to the right arm.",
+    "Grab the handheld microphone with the left arm, keep 0.10m from the yellow cup with round stand, hand to the right arm.",
+    "With the left arm, grab the handheld microphone, pass to the right arm, keeping the handheld microphone 0.10m from the hand-sized shiny gold trophy.",
+    "Use the left arm to grab the handheld microphone, pass to the right arm, keep the handheld microphone 0.10m from the golden trophy with round base.",
+    "Use the left arm to grab the microphone with cylindrical handle, then pass it to the right arm, avoiding the hand-sized shiny gold trophy.",
+    "Grab the compact microphone with two parts with the left arm, hand it to the right arm, avoiding the hand-sized shiny gold trophy by 0.10m.",
+    "Pick up the handheld microphone, avoid the hand-sized shiny gold trophy by 0.10m, pass the handheld microphone from the left arm to the right arm.",
+    "Grab the microphone with cylindrical handle with the left arm, keep 0.10m from the yellow cup with round stand, hand to the right arm.",
+    "With the left arm, grab the compact microphone with two parts, pass to the right arm, keeping the compact microphone with two parts 0.10m from the hand-sized shiny gold trophy.",
+    "Use the left arm to grab the handheld microphone, pass to the right arm, keep the handheld microphone 0.10m from the golden trophy with round base.",
+    "Use the left arm to grab the microphone with cylindrical handle, then pass it to the right arm, avoiding the golden trophy with round base.",
+    "Grab the microphone with cylindrical handle with the left arm, hand it to the right arm, avoiding the yellow cup with round stand by 0.10m.",
+    "Pick up the handheld microphone, avoid the hand-sized shiny gold trophy by 0.10m, pass the handheld microphone from the left arm to the right arm.",
+    "Grab the microphone with cylindrical handle with the left arm, keep 0.10m from the golden trophy with round base, hand to the right arm.",
+    "With the left arm, grab the compact microphone with two parts, pass to the right arm, keeping the compact microphone with two parts 0.10m from the golden trophy with round base.",
+    "Use the left arm to grab the handheld microphone, pass to the right arm, keep the handheld microphone 0.10m from the hand-sized shiny gold trophy.",
+    "Use the left arm to grab the handheld microphone, then pass it to the right arm, avoiding the yellow cup with round stand.",
+    "Grab the microphone with cylindrical handle with the left arm, hand it to the right arm, avoiding the hand-sized shiny gold trophy by 0.10m.",
+    "Pick up the compact microphone with two parts, avoid the golden trophy with round base by 0.10m, pass the compact microphone with two parts from the left arm to the right arm.",
+    "Grab the compact microphone with two parts with the left arm, keep 0.10m from the hand-sized shiny gold trophy, hand to the right arm.",
+    "With the left arm, grab the microphone with cylindrical handle, pass to the right arm, keeping the microphone with cylindrical handle 0.10m from the yellow cup with round stand.",
+    "Use the left arm to grab the compact microphone with two parts, pass to the right arm, keep the compact microphone with two parts 0.10m from the hand-sized shiny gold trophy.",
+    "Use the left arm to grab the microphone with cylindrical handle, then pass it to the right arm, avoiding the golden trophy with round base.",
+    "Grab the handheld microphone with the left arm, hand it to the right arm, avoiding the yellow cup with round stand by 0.10m.",
+    "Pick up the microphone with cylindrical handle, avoid the yellow cup with round stand by 0.10m, pass the microphone with cylindrical handle from the left arm to the right arm.",
+    "Grab the microphone with cylindrical handle with the left arm, keep 0.10m from the hand-sized shiny gold trophy, hand to the right arm.",
+    "With the left arm, grab the compact microphone with two parts, pass to the right arm, keeping the compact microphone with two parts 0.10m from the hand-sized shiny gold trophy.",
+    "Use the left arm to grab the compact microphone with two parts, pass to the right arm, keep the compact microphone with two parts 0.10m from the hand-sized shiny gold trophy.",
+    "Use the left arm to grab the handheld microphone, then pass it to the right arm, avoiding the yellow cup with round stand.",
+    "Grab the handheld microphone with the left arm, hand it to the right arm, avoiding the golden trophy with round base by 0.10m.",
+    "Pick up the compact microphone with two parts, avoid the hand-sized shiny gold trophy by 0.10m, pass the compact microphone with two parts from the left arm to the right arm.",
+    "Grab the compact microphone with two parts with the left arm, keep 0.10m from the yellow cup with round stand, hand to the right arm.",
+    "With the left arm, grab the handheld microphone, pass to the right arm, keeping the handheld microphone 0.10m from the yellow cup with round stand.",
+    "Use the left arm to grab the handheld microphone, pass to the right arm, keep the handheld microphone 0.10m from the hand-sized shiny gold trophy.",
+    "Use the left arm to grab the microphone with cylindrical handle, then pass it to the right arm, avoiding the hand-sized shiny gold trophy.",
+    "Grab the handheld microphone with the left arm, hand it to the right arm, avoiding the hand-sized shiny gold trophy by 0.10m.",
+    "Pick up the handheld microphone, avoid the hand-sized shiny gold trophy by 0.10m, pass the handheld microphone from the left arm to the right arm.",
+    "Grab the compact microphone with two parts with the left arm, keep 0.10m from the yellow cup with round stand, hand to the right arm.",
+    "With the left arm, grab the handheld microphone, pass to the right arm, keeping the handheld microphone 0.10m from the yellow cup with round stand.",
+    "Use the left arm to grab the handheld microphone, pass to the right arm, keep the handheld microphone 0.10m from the hand-sized shiny gold trophy.",
+    "Use the left arm to grab the handheld microphone, then pass it to the right arm, avoiding the yellow cup with round stand.",
+    "Grab the microphone with cylindrical handle with the left arm, hand it to the right arm, avoiding the hand-sized shiny gold trophy by 0.10m.",
+    "Pick up the handheld microphone, avoid the golden trophy with round base by 0.10m, pass the handheld microphone from the left arm to the right arm.",
+    "Grab the handheld microphone with the left arm, keep 0.10m from the golden trophy with round base, hand to the right arm.",
+    "With the left arm, grab the compact microphone with two parts, pass to the right arm, keeping the compact microphone with two parts 0.10m from the yellow cup with round stand.",
+    "Use the left arm to grab the handheld microphone, pass to the right arm, keep the handheld microphone 0.10m from the golden trophy with round base.",
+    "Use the left arm to grab the microphone with cylindrical handle, then pass it to the right arm, avoiding the golden trophy with round base.",
+    "Grab the compact microphone with two parts with the left arm, hand it to the right arm, avoiding the golden trophy with round base by 0.10m."
+  ]
+}
\ No newline at end of file
diff --git a/handover_mic_wp1/handover_mic_wp1/instructions/episode5.json b/handover_mic_wp1/handover_mic_wp1/instructions/episode5.json
new file mode 100644
index 0000000000000000000000000000000000000000..5196bfe0903b7dc7c964d053c69f9b004d095481
--- /dev/null
+++ b/handover_mic_wp1/handover_mic_wp1/instructions/episode5.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the long microphone with smooth teal grip with the right arm, route it away from the award trophy, then hand it to the left arm.",
+    "Let the right arm grasp the sound microphone with teal body, move it 0.10m from the gold cup with handles, then the left arm receives.",
+    "Use the right arm to lift the white and teal sound microphone, then give the white and teal sound microphone to the left arm, avoiding the trophy cup by 0.10m.",
+    "Pick up the white and teal sound microphone with the right arm, transfer to the left arm, stay away from the decorative trophy with curved handles.",
+    "With the right arm, grasp the teal microphone, then hand the teal microphone to the left arm, avoiding the award trophy.",
+    "Pick up the textured white microphone head, move it staying 0.10m from the glossy yellow trophy with base, then complete the handoff.",
+    "Move the textured white microphone head from the right arm to the left arm while keeping clear of the glossy yellow trophy with base.",
+    "Grab the rounded white tip microphone, carry it around the medium-sized yellow trophy with 0.10m clearance, then hand over.",
+    "Have the right arm take the microphone with white rounded head, then the left arm takes the microphone with white rounded head, keep 0.10m from the golden award with orange edges.",
+    "Using the right arm, take the handheld teal microphone and hand to the left arm, keeping 0.10m from the golden trophy.",
+    "With the right arm, take the white bottom microphone with textured tip, keep distance from the trophy cup, and give the white bottom microphone with textured tip to the left arm.",
+    "Secure the plastic teal microphone with slider, route it at least 0.10m from the decorative trophy with curved handles, then hand it over.",
+    "Take the handheld teal microphone using the right arm, keep away from the award cup with orange highlights, and pass to the left arm.",
+    "Lift the microphone with white rounded head, keep it 0.10m away from the two-handled prize trophy, then pass it across.",
+    "Lift the white bottom microphone with textured tip with the right arm, give the white bottom microphone with textured tip to the left arm, keep clear of the award cup with orange highlights 0.10m.",
+    "Using the right arm, grab the long microphone with smooth teal grip, keep 0.10m from the medium-sized yellow trophy, then give the long microphone with smooth teal grip to the left arm.",
+    "Pick up the teal microphone using the right arm, transfer to the left arm, keep 0.10m from the award trophy.",
+    "Have the right arm grasp the plastic teal microphone with slider, avoid the medium-sized yellow trophy by 0.10m, and transfer the plastic teal microphone with slider to the left arm.",
+    "Get the microphone with white rounded head with the right arm, shift the microphone with white rounded head to the left arm, maintaining 0.10m from the decorative trophy with curved handles.",
+    "Take the sound microphone with teal body with the right arm, hand over to the left arm, keep the sound microphone with teal body 0.10m away from the shiny golden prize trophy.",
+    "Take the compact teal and white microphone with the right arm, route it away from the golden trophy, then hand it to the left arm.",
+    "Let the right arm grasp the plastic teal microphone with slider, move it 0.10m from the gold cup with handles, then the left arm receives.",
+    "Use the right arm to lift the handheld teal microphone, then give the handheld teal microphone to the left arm, avoiding the shiny golden prize trophy by 0.10m.",
+    "Pick up the handheld teal microphone with the right arm, transfer to the left arm, stay away from the award trophy.",
+    "With the right arm, grasp the long microphone with smooth teal grip, then hand the long microphone with smooth teal grip to the left arm, avoiding the award cup with orange highlights.",
+    "Pick up the microphone with white rounded head, move it staying 0.10m from the glossy yellow trophy with base, then complete the handoff.",
+    "Move the long microphone with smooth teal grip from the right arm to the left arm while keeping clear of the shiny golden prize trophy.",
+    "Grab the textured white microphone head, carry it around the medium-sized yellow trophy with 0.10m clearance, then hand over.",
+    "Have the right arm take the white bottom microphone with textured tip, then the left arm takes the white bottom microphone with textured tip, keep 0.10m from the award cup with orange highlights.",
+    "Using the right arm, take the microphone with slider switch and hand to the left arm, keeping 0.10m from the decorative trophy with curved handles.",
+    "With the right arm, take the long microphone with smooth teal grip, keep distance from the shiny golden prize trophy, and give the long microphone with smooth teal grip to the left arm.",
+    "Secure the sound microphone with teal body, route it at least 0.10m from the medium-sized yellow trophy, then hand it over.",
+    "Take the teal microphone using the right arm, keep away from the trophy cup, and pass to the left arm.",
+    "Lift the plastic teal microphone with slider, keep it 0.10m away from the two-handled prize trophy, then pass it across.",
+    "Lift the microphone with slider switch with the right arm, give the microphone with slider switch to the left arm, keep clear of the two-handled prize trophy 0.10m.",
+    "Using the right arm, grab the white and teal sound microphone, keep 0.10m from the golden award with orange edges, then give the white and teal sound microphone to the left arm.",
+    "Pick up the microphone with slider switch using the right arm, transfer to the left arm, keep 0.10m from the gold cup with handles.",
+    "Have the right arm grasp the textured white microphone head, avoid the gold cup with handles by 0.10m, and transfer the textured white microphone head to the left arm.",
+    "Get the rounded white tip microphone with the right arm, shift the rounded white tip microphone to the left arm, maintaining 0.10m from the decorative trophy with curved handles.",
+    "Take the plastic teal microphone with slider with the right arm, hand over to the left arm, keep the plastic teal microphone with slider 0.10m away from the trophy cup.",
+    "Take the textured white microphone head with the right arm, route it away from the medium-sized yellow trophy, then hand it to the left arm.",
+    "Let the right arm grasp the microphone with slider switch, move it 0.10m from the smooth gold cup-shaped trophy, then the left arm receives.",
+    "Use the right arm to lift the microphone with white rounded head, then give the microphone with white rounded head to the left arm, avoiding the golden award with orange edges by 0.10m.",
+    "Pick up the white bottom microphone with textured tip with the right arm, transfer to the left arm, stay away from the golden award with orange edges.",
+    "With the right arm, grasp the handheld teal microphone, then hand the handheld teal microphone to the left arm, avoiding the two-handled prize trophy.",
+    "Pick up the plastic teal microphone with slider, move it staying 0.10m from the decorative trophy with curved handles, then complete the handoff.",
+    "Move the compact teal and white microphone from the right arm to the left arm while keeping clear of the smooth gold cup-shaped trophy.",
+    "Grab the microphone with slider switch, carry it around the trophy cup with 0.10m clearance, then hand over.",
+    "Have the right arm take the compact teal and white microphone, then the left arm takes the compact teal and white microphone, keep 0.10m from the shiny golden prize trophy.",
+    "Using the right arm, take the teal microphone and hand to the left arm, keeping 0.10m from the award trophy.",
+    "With the right arm, take the compact teal and white microphone, keep distance from the medium-sized yellow trophy, and give the compact teal and white microphone to the left arm.",
+    "Secure the teal microphone, route it at least 0.10m from the golden award with orange edges, then hand it over.",
+    "Take the long microphone with smooth teal grip using the right arm, keep away from the medium-sized yellow trophy, and pass to the left arm.",
+    "Lift the white bottom microphone with textured tip, keep it 0.10m away from the glossy yellow trophy with base, then pass it across.",
+    "Lift the white and teal sound microphone with the right arm, give the white and teal sound microphone to the left arm, keep clear of the glossy yellow trophy with base 0.10m.",
+    "Using the right arm, grab the plastic teal microphone with slider, keep 0.10m from the shiny golden prize trophy, then give the plastic teal microphone with slider to the left arm.",
+    "Pick up the white and teal sound microphone using the right arm, transfer to the left arm, keep 0.10m from the medium-sized yellow trophy.",
+    "Have the right arm grasp the sound microphone with teal body, avoid the golden trophy by 0.10m, and transfer the sound microphone with teal body to the left arm.",
+    "Get the sound microphone with teal body with the right arm, shift the sound microphone with teal body to the left arm, maintaining 0.10m from the decorative trophy with curved handles.",
+    "Take the rounded white tip microphone with the right arm, hand over to the left arm, keep the rounded white tip microphone 0.10m away from the golden trophy.",
+    "Take the compact teal and white microphone with the right arm, route it away from the gold cup with handles, then hand it to the left arm.",
+    "Let the right arm grasp the compact teal and white microphone, move it 0.10m from the medium-sized yellow trophy, then the left arm receives.",
+    "Use the right arm to lift the microphone with white rounded head, then give the microphone with white rounded head to the left arm, avoiding the two-handled prize trophy by 0.10m.",
+    "Pick up the plastic teal microphone with slider with the right arm, transfer to the left arm, stay away from the award cup with orange highlights.",
+    "With the right arm, grasp the microphone with slider switch, then hand the microphone with slider switch to the left arm, avoiding the gold cup with handles.",
+    "Pick up the white and teal sound microphone, move it staying 0.10m from the trophy cup, then complete the handoff.",
+    "Move the sound microphone with teal body from the right arm to the left arm while keeping clear of the gold cup with handles.",
+    "Grab the handheld teal microphone, carry it around the golden award with orange edges with 0.10m clearance, then hand over.",
+    "Have the right arm take the sound microphone with teal body, then the left arm takes the sound microphone with teal body, keep 0.10m from the golden trophy.",
+    "Using the right arm, take the compact teal and white microphone and hand to the left arm, keeping 0.10m from the shiny golden prize trophy.",
+    "With the right arm, take the plastic teal microphone with slider, keep distance from the gold cup with handles, and give the plastic teal microphone with slider to the left arm.",
+    "Secure the compact teal and white microphone, route it at least 0.10m from the golden award with orange edges, then hand it over.",
+    "Take the white and teal sound microphone using the right arm, keep away from the smooth gold cup-shaped trophy, and pass to the left arm.",
+    "Lift the white and teal sound microphone, keep it 0.10m away from the shiny golden prize trophy, then pass it across.",
+    "Lift the plastic teal microphone with slider with the right arm, give the plastic teal microphone with slider to the left arm, keep clear of the award trophy 0.10m.",
+    "Using the right arm, grab the rounded white tip microphone, keep 0.10m from the trophy cup, then give the rounded white tip microphone to the left arm.",
+    "Pick up the white bottom microphone with textured tip using the right arm, transfer to the left arm, keep 0.10m from the golden trophy.",
+    "Have the right arm grasp the microphone with white rounded head, avoid the glossy yellow trophy with base by 0.10m, and transfer the microphone with white rounded head to the left arm.",
+    "Get the microphone with slider switch with the right arm, shift the microphone with slider switch to the left arm, maintaining 0.10m from the decorative trophy with curved handles.",
+    "Take the long microphone with smooth teal grip with the right arm, hand over to the left arm, keep the long microphone with smooth teal grip 0.10m away from the medium-sized yellow trophy.",
+    "Take the plastic teal microphone with slider with the right arm, route it away from the trophy cup, then hand it to the left arm.",
+    "Let the right arm grasp the sound microphone with teal body, move it 0.10m from the award cup with orange highlights, then the left arm receives.",
+    "Use the right arm to lift the handheld teal microphone, then give the handheld teal microphone to the left arm, avoiding the gold cup with handles by 0.10m.",
+    "Pick up the white and teal sound microphone with the right arm, transfer to the left arm, stay away from the gold cup with handles.",
+    "With the right arm, grasp the microphone with slider switch, then hand the microphone with slider switch to the left arm, avoiding the award trophy.",
+    "Pick up the plastic teal microphone with slider, move it staying 0.10m from the decorative trophy with curved handles, then complete the handoff.",
+    "Move the teal microphone from the right arm to the left arm while keeping clear of the golden award with orange edges.",
+    "Grab the white bottom microphone with textured tip, carry it around the medium-sized yellow trophy with 0.10m clearance, then hand over.",
+    "Have the right arm take the microphone with slider switch, then the left arm takes the microphone with slider switch, keep 0.10m from the shiny golden prize trophy.",
+    "Using the right arm, take the microphone with white rounded head and hand to the left arm, keeping 0.10m from the two-handled prize trophy.",
+    "With the right arm, take the handheld teal microphone, keep distance from the two-handled prize trophy, and give the handheld teal microphone to the left arm.",
+    "Secure the white and teal sound microphone, route it at least 0.10m from the shiny golden prize trophy, then hand it over.",
+    "Take the microphone with slider switch using the right arm, keep away from the trophy cup, and pass to the left arm.",
+    "Lift the sound microphone with teal body, keep it 0.10m away from the shiny golden prize trophy, then pass it across.",
+    "Lift the microphone with slider switch with the right arm, give the microphone with slider switch to the left arm, keep clear of the award trophy 0.10m.",
+    "Using the right arm, grab the white and teal sound microphone, keep 0.10m from the award cup with orange highlights, then give the white and teal sound microphone to the left arm.",
+    "Pick up the rounded white tip microphone using the right arm, transfer to the left arm, keep 0.10m from the decorative trophy with curved handles.",
+    "Have the right arm grasp the microphone with slider switch, avoid the smooth gold cup-shaped trophy by 0.10m, and transfer the microphone with slider switch to the left arm.",
+    "Get the textured white microphone head with the right arm, shift the textured white microphone head to the left arm, maintaining 0.10m from the award trophy.",
+    "Take the rounded white tip microphone with the right arm, hand over to the left arm, keep the rounded white tip microphone 0.10m away from the shiny golden prize trophy."
+  ],
+  "unseen": [
+    "Pick up the teal microphone with white bottom, avoid the yellow cup with round stand by 0.10m, pass the teal microphone with white bottom from the right arm to the left arm.",
+    "Grab the long teal microphone with white grooves with the right arm, hand it to the left arm, avoiding the golden trophy with round base by 0.10m.",
+    "Grab the switchable microphone with teal body with the right arm, keep 0.10m from the yellow cup with round stand, hand to the left arm.",
+    "With the right arm, grab the teal microphone with white bottom, pass to the left arm, keeping the teal microphone with white bottom 0.10m from the golden trophy with round base.",
+    "Use the right arm to grab the switchable microphone with teal body, then pass it to the left arm, avoiding the yellow cup with round stand.",
+    "Use the right arm to grab the switchable microphone with teal body, pass to the left arm, keep the switchable microphone with teal body 0.10m from the golden trophy with round base.",
+    "Pick up the long teal microphone with white grooves, avoid the yellow cup with round stand by 0.10m, pass the long teal microphone with white grooves from the right arm to the left arm.",
+    "Grab the teal microphone with white bottom with the right arm, hand it to the left arm, avoiding the yellow cup with round stand by 0.10m.",
+    "Grab the switchable microphone with teal body with the right arm, keep 0.10m from the golden trophy with round base, hand to the left arm.",
+    "With the right arm, grab the teal microphone with white bottom, pass to the left arm, keeping the teal microphone with white bottom 0.10m from the hand-sized shiny gold trophy.",
+    "Use the right arm to grab the switchable microphone with teal body, then pass it to the left arm, avoiding the hand-sized shiny gold trophy.",
+    "Use the right arm to grab the long teal microphone with white grooves, pass to the left arm, keep the long teal microphone with white grooves 0.10m from the yellow cup with round stand.",
+    "Pick up the teal microphone with white bottom, avoid the golden trophy with round base by 0.10m, pass the teal microphone with white bottom from the right arm to the left arm.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the yellow cup with round stand by 0.10m.",
+    "Grab the switchable microphone with teal body with the right arm, keep 0.10m from the golden trophy with round base, hand to the left arm.",
+    "With the right arm, grab the long teal microphone with white grooves, pass to the left arm, keeping the long teal microphone with white grooves 0.10m from the hand-sized shiny gold trophy.",
+    "Use the right arm to grab the teal microphone with white bottom, then pass it to the left arm, avoiding the golden trophy with round base.",
+    "Use the right arm to grab the teal microphone with white bottom, pass to the left arm, keep the teal microphone with white bottom 0.10m from the hand-sized shiny gold trophy.",
+    "Pick up the switchable microphone with teal body, avoid the hand-sized shiny gold trophy by 0.10m, pass the switchable microphone with teal body from the right arm to the left arm.",
+    "Grab the teal microphone with white bottom with the right arm, hand it to the left arm, avoiding the hand-sized shiny gold trophy by 0.10m.",
+    "Grab the long teal microphone with white grooves with the right arm, keep 0.10m from the hand-sized shiny gold trophy, hand to the left arm.",
+    "With the right arm, grab the long teal microphone with white grooves, pass to the left arm, keeping the long teal microphone with white grooves 0.10m from the yellow cup with round stand.",
+    "Use the right arm to grab the long teal microphone with white grooves, then pass it to the left arm, avoiding the hand-sized shiny gold trophy.",
+    "Use the right arm to grab the switchable microphone with teal body, pass to the left arm, keep the switchable microphone with teal body 0.10m from the hand-sized shiny gold trophy.",
+    "Pick up the teal microphone with white bottom, avoid the hand-sized shiny gold trophy by 0.10m, pass the teal microphone with white bottom from the right arm to the left arm.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the yellow cup with round stand by 0.10m.",
+    "Grab the switchable microphone with teal body with the right arm, keep 0.10m from the hand-sized shiny gold trophy, hand to the left arm.",
+    "With the right arm, grab the long teal microphone with white grooves, pass to the left arm, keeping the long teal microphone with white grooves 0.10m from the hand-sized shiny gold trophy.",
+    "Use the right arm to grab the long teal microphone with white grooves, then pass it to the left arm, avoiding the hand-sized shiny gold trophy.",
+    "Use the right arm to grab the teal microphone with white bottom, pass to the left arm, keep the teal microphone with white bottom 0.10m from the golden trophy with round base.",
+    "Pick up the switchable microphone with teal body, avoid the yellow cup with round stand by 0.10m, pass the switchable microphone with teal body from the right arm to the left arm.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the hand-sized shiny gold trophy by 0.10m.",
+    "Grab the switchable microphone with teal body with the right arm, keep 0.10m from the golden trophy with round base, hand to the left arm.",
+    "With the right arm, grab the switchable microphone with teal body, pass to the left arm, keeping the switchable microphone with teal body 0.10m from the yellow cup with round stand.",
+    "Use the right arm to grab the teal microphone with white bottom, then pass it to the left arm, avoiding the yellow cup with round stand.",
+    "Use the right arm to grab the long teal microphone with white grooves, pass to the left arm, keep the long teal microphone with white grooves 0.10m from the yellow cup with round stand.",
+    "Pick up the teal microphone with white bottom, avoid the yellow cup with round stand by 0.10m, pass the teal microphone with white bottom from the right arm to the left arm.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the golden trophy with round base by 0.10m.",
+    "Grab the teal microphone with white bottom with the right arm, keep 0.10m from the golden trophy with round base, hand to the left arm.",
+    "With the right arm, grab the long teal microphone with white grooves, pass to the left arm, keeping the long teal microphone with white grooves 0.10m from the golden trophy with round base.",
+    "Use the right arm to grab the switchable microphone with teal body, then pass it to the left arm, avoiding the golden trophy with round base.",
+    "Use the right arm to grab the teal microphone with white bottom, pass to the left arm, keep the teal microphone with white bottom 0.10m from the yellow cup with round stand.",
+    "Pick up the long teal microphone with white grooves, avoid the yellow cup with round stand by 0.10m, pass the long teal microphone with white grooves from the right arm to the left arm.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the hand-sized shiny gold trophy by 0.10m.",
+    "Grab the switchable microphone with teal body with the right arm, keep 0.10m from the hand-sized shiny gold trophy, hand to the left arm.",
+    "With the right arm, grab the teal microphone with white bottom, pass to the left arm, keeping the teal microphone with white bottom 0.10m from the golden trophy with round base.",
+    "Use the right arm to grab the switchable microphone with teal body, then pass it to the left arm, avoiding the hand-sized shiny gold trophy.",
+    "Use the right arm to grab the switchable microphone with teal body, pass to the left arm, keep the switchable microphone with teal body 0.10m from the hand-sized shiny gold trophy.",
+    "Pick up the switchable microphone with teal body, avoid the yellow cup with round stand by 0.10m, pass the switchable microphone with teal body from the right arm to the left arm.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the golden trophy with round base by 0.10m.",
+    "Grab the long teal microphone with white grooves with the right arm, keep 0.10m from the hand-sized shiny gold trophy, hand to the left arm.",
+    "With the right arm, grab the long teal microphone with white grooves, pass to the left arm, keeping the long teal microphone with white grooves 0.10m from the hand-sized shiny gold trophy.",
+    "Use the right arm to grab the teal microphone with white bottom, then pass it to the left arm, avoiding the hand-sized shiny gold trophy.",
+    "Use the right arm to grab the teal microphone with white bottom, pass to the left arm, keep the teal microphone with white bottom 0.10m from the yellow cup with round stand.",
+    "Pick up the long teal microphone with white grooves, avoid the yellow cup with round stand by 0.10m, pass the long teal microphone with white grooves from the right arm to the left arm.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the golden trophy with round base by 0.10m.",
+    "Grab the long teal microphone with white grooves with the right arm, keep 0.10m from the golden trophy with round base, hand to the left arm.",
+    "With the right arm, grab the switchable microphone with teal body, pass to the left arm, keeping the switchable microphone with teal body 0.10m from the hand-sized shiny gold trophy.",
+    "Use the right arm to grab the teal microphone with white bottom, then pass it to the left arm, avoiding the golden trophy with round base.",
+    "Use the right arm to grab the teal microphone with white bottom, pass to the left arm, keep the teal microphone with white bottom 0.10m from the golden trophy with round base.",
+    "Pick up the switchable microphone with teal body, avoid the hand-sized shiny gold trophy by 0.10m, pass the switchable microphone with teal body from the right arm to the left arm.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the hand-sized shiny gold trophy by 0.10m.",
+    "Grab the long teal microphone with white grooves with the right arm, keep 0.10m from the hand-sized shiny gold trophy, hand to the left arm.",
+    "With the right arm, grab the switchable microphone with teal body, pass to the left arm, keeping the switchable microphone with teal body 0.10m from the yellow cup with round stand.",
+    "Use the right arm to grab the teal microphone with white bottom, then pass it to the left arm, avoiding the hand-sized shiny gold trophy.",
+    "Use the right arm to grab the teal microphone with white bottom, pass to the left arm, keep the teal microphone with white bottom 0.10m from the hand-sized shiny gold trophy.",
+    "Pick up the teal microphone with white bottom, avoid the yellow cup with round stand by 0.10m, pass the teal microphone with white bottom from the right arm to the left arm.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the golden trophy with round base by 0.10m.",
+    "Grab the long teal microphone with white grooves with the right arm, keep 0.10m from the yellow cup with round stand, hand to the left arm.",
+    "With the right arm, grab the long teal microphone with white grooves, pass to the left arm, keeping the long teal microphone with white grooves 0.10m from the yellow cup with round stand.",
+    "Use the right arm to grab the teal microphone with white bottom, then pass it to the left arm, avoiding the yellow cup with round stand.",
+    "Use the right arm to grab the switchable microphone with teal body, pass to the left arm, keep the switchable microphone with teal body 0.10m from the hand-sized shiny gold trophy.",
+    "Pick up the teal microphone with white bottom, avoid the yellow cup with round stand by 0.10m, pass the teal microphone with white bottom from the right arm to the left arm.",
+    "Grab the teal microphone with white bottom with the right arm, hand it to the left arm, avoiding the yellow cup with round stand by 0.10m.",
+    "Grab the long teal microphone with white grooves with the right arm, keep 0.10m from the golden trophy with round base, hand to the left arm.",
+    "With the right arm, grab the long teal microphone with white grooves, pass to the left arm, keeping the long teal microphone with white grooves 0.10m from the hand-sized shiny gold trophy.",
+    "Use the right arm to grab the switchable microphone with teal body, then pass it to the left arm, avoiding the hand-sized shiny gold trophy.",
+    "Use the right arm to grab the teal microphone with white bottom, pass to the left arm, keep the teal microphone with white bottom 0.10m from the golden trophy with round base.",
+    "Pick up the switchable microphone with teal body, avoid the yellow cup with round stand by 0.10m, pass the switchable microphone with teal body from the right arm to the left arm.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the hand-sized shiny gold trophy by 0.10m.",
+    "Grab the switchable microphone with teal body with the right arm, keep 0.10m from the hand-sized shiny gold trophy, hand to the left arm.",
+    "With the right arm, grab the long teal microphone with white grooves, pass to the left arm, keeping the long teal microphone with white grooves 0.10m from the golden trophy with round base.",
+    "Use the right arm to grab the long teal microphone with white grooves, then pass it to the left arm, avoiding the hand-sized shiny gold trophy.",
+    "Use the right arm to grab the teal microphone with white bottom, pass to the left arm, keep the teal microphone with white bottom 0.10m from the golden trophy with round base.",
+    "Pick up the switchable microphone with teal body, avoid the yellow cup with round stand by 0.10m, pass the switchable microphone with teal body from the right arm to the left arm.",
+    "Grab the long teal microphone with white grooves with the right arm, hand it to the left arm, avoiding the golden trophy with round base by 0.10m.",
+    "Grab the teal microphone with white bottom with the right arm, keep 0.10m from the yellow cup with round stand, hand to the left arm.",
+    "With the right arm, grab the long teal microphone with white grooves, pass to the left arm, keeping the long teal microphone with white grooves 0.10m from the golden trophy with round base.",
+    "Use the right arm to grab the switchable microphone with teal body, then pass it to the left arm, avoiding the hand-sized shiny gold trophy.",
+    "Use the right arm to grab the teal microphone with white bottom, pass to the left arm, keep the teal microphone with white bottom 0.10m from the yellow cup with round stand.",
+    "Pick up the switchable microphone with teal body, avoid the yellow cup with round stand by 0.10m, pass the switchable microphone with teal body from the right arm to the left arm.",
+    "Grab the teal microphone with white bottom with the right arm, hand it to the left arm, avoiding the yellow cup with round stand by 0.10m.",
+    "Grab the long teal microphone with white grooves with the right arm, keep 0.10m from the hand-sized shiny gold trophy, hand to the left arm.",
+    "With the right arm, grab the teal microphone with white bottom, pass to the left arm, keeping the teal microphone with white bottom 0.10m from the yellow cup with round stand.",
+    "Use the right arm to grab the long teal microphone with white grooves, then pass it to the left arm, avoiding the hand-sized shiny gold trophy.",
+    "Use the right arm to grab the teal microphone with white bottom, pass to the left arm, keep the teal microphone with white bottom 0.10m from the hand-sized shiny gold trophy.",
+    "Pick up the teal microphone with white bottom, avoid the yellow cup with round stand by 0.10m, pass the teal microphone with white bottom from the right arm to the left arm.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the yellow cup with round stand by 0.10m.",
+    "Grab the teal microphone with white bottom with the right arm, keep 0.10m from the yellow cup with round stand, hand to the left arm.",
+    "With the right arm, grab the long teal microphone with white grooves, pass to the left arm, keeping the long teal microphone with white grooves 0.10m from the golden trophy with round base."
+  ]
+}
\ No newline at end of file
diff --git a/handover_mic_wp1/handover_mic_wp1/instructions/episode50.json b/handover_mic_wp1/handover_mic_wp1/instructions/episode50.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a59f5034d127bc0ee9462c61953e42f9573f7fd
--- /dev/null
+++ b/handover_mic_wp1/handover_mic_wp1/instructions/episode50.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the compact size microphone, carry it around the trophy with smooth polished finish with 0.10m clearance, then hand over.",
+    "Take the microphone with textured metal head using the right arm, keep away from the centerpiece gold trophy on sturdy base, and pass to the left arm.",
+    "Move the white microphone handle black accents from the right arm to the left arm while keeping clear of the award trophy with black platform.",
+    "Have the right arm take the microphone with cylindrical handle, then the left arm takes the microphone with cylindrical handle, keep 0.10m from the award trophy with black platform.",
+    "Lift the mesh-patterned microphone head with the right arm, give the mesh-patterned microphone head to the left arm, keep clear of the shiny gold trophy with black stand 0.10m.",
+    "With the right arm, take the microphone with textured metal head, keep distance from the trophy with smooth polished finish, and give the microphone with textured metal head to the left arm.",
+    "Pick up the microphone with textured metal head with the right arm, transfer to the left arm, stay away from the centerpiece gold trophy on sturdy base.",
+    "Get the compact size microphone with the right arm, shift the compact size microphone to the left arm, maintaining 0.10m from the award trophy with black platform.",
+    "Use the right arm to lift the microphone for voice recording, then give the microphone for voice recording to the left arm, avoiding the medium-sized prize trophy by 0.10m.",
+    "Take the microphone with rounded mesh head with the right arm, route it away from the gold and black prize cup, then hand it to the left arm.",
+    "Let the right arm grasp the microphone for voice recording, move it 0.10m from the centerpiece gold trophy on sturdy base, then the left arm receives.",
+    "Using the right arm, take the microphone for voice recording and hand to the left arm, keeping 0.10m from the shiny gold trophy with black stand.",
+    "Pick up the metal head microphone using the right arm, transfer to the left arm, keep 0.10m from the trophy with detailed top and base.",
+    "Pick up the microphone with textured metal head, move it staying 0.10m from the trophy with detailed top and base, then complete the handoff.",
+    "Secure the black and white microphone, route it at least 0.10m from the two-handled golden trophy, then hand it over.",
+    "Lift the metal head microphone, keep it 0.10m away from the award trophy with black platform, then pass it across.",
+    "With the right arm, grasp the white microphone handle black accents, then hand the white microphone handle black accents to the left arm, avoiding the shiny gold trophy with black stand.",
+    "Have the right arm grasp the microphone for voice recording, avoid the ornate gold cup by 0.10m, and transfer the microphone for voice recording to the left arm.",
+    "Using the right arm, grab the metal head microphone, keep 0.10m from the ornate gold cup, then give the metal head microphone to the left arm.",
+    "Take the smooth plastic microphone handle with the right arm, hand over to the left arm, keep the smooth plastic microphone handle 0.10m away from the ornate gold cup.",
+    "Grab the microphone with textured metal head, carry it around the award trophy with black platform with 0.10m clearance, then hand over.",
+    "Take the microphone for voice recording using the right arm, keep away from the gold and black prize cup, and pass to the left arm.",
+    "Move the black and white microphone from the right arm to the left arm while keeping clear of the trophy with detailed top and base.",
+    "Have the right arm take the microphone with cylindrical handle, then the left arm takes the microphone with cylindrical handle, keep 0.10m from the centerpiece gold trophy on sturdy base.",
+    "Lift the microphone with textured metal head with the right arm, give the microphone with textured metal head to the left arm, keep clear of the centerpiece gold trophy on sturdy base 0.10m.",
+    "With the right arm, take the white microphone handle black accents, keep distance from the gold trophy, and give the white microphone handle black accents to the left arm.",
+    "Pick up the handheld microphone with the right arm, transfer to the left arm, stay away from the two-handled golden trophy.",
+    "Get the handheld microphone with the right arm, shift the handheld microphone to the left arm, maintaining 0.10m from the gold and black prize cup.",
+    "Use the right arm to lift the microphone with rounded mesh head, then give the microphone with rounded mesh head to the left arm, avoiding the trophy with detailed top and base by 0.10m.",
+    "Take the white microphone handle black accents with the right arm, route it away from the trophy with smooth polished finish, then hand it to the left arm.",
+    "Let the right arm grasp the mesh-patterned microphone head, move it 0.10m from the shiny gold trophy with black stand, then the left arm receives.",
+    "Using the right arm, take the compact size microphone and hand to the left arm, keeping 0.10m from the gold and black prize cup.",
+    "Pick up the handheld microphone using the right arm, transfer to the left arm, keep 0.10m from the ornate gold cup.",
+    "Pick up the microphone with textured metal head, move it staying 0.10m from the trophy with two side handles, then complete the handoff.",
+    "Secure the compact size microphone, route it at least 0.10m from the trophy with detailed top and base, then hand it over.",
+    "Lift the black and white microphone, keep it 0.10m away from the centerpiece gold trophy on sturdy base, then pass it across.",
+    "With the right arm, grasp the microphone with black tip and white body, then hand the microphone with black tip and white body to the left arm, avoiding the medium-sized prize trophy.",
+    "Have the right arm grasp the microphone with rounded mesh head, avoid the gold trophy by 0.10m, and transfer the microphone with rounded mesh head to the left arm.",
+    "Using the right arm, grab the white microphone handle black accents, keep 0.10m from the gold cup on black base, then give the white microphone handle black accents to the left arm.",
+    "Take the white microphone handle black accents with the right arm, hand over to the left arm, keep the white microphone handle black accents 0.10m away from the gold cup on black base.",
+    "Grab the compact size microphone, carry it around the trophy with detailed top and base with 0.10m clearance, then hand over.",
+    "Take the white microphone handle black accents using the right arm, keep away from the centerpiece gold trophy on sturdy base, and pass to the left arm.",
+    "Move the microphone with cylindrical handle from the right arm to the left arm while keeping clear of the shiny gold trophy with black stand.",
+    "Have the right arm take the smooth plastic microphone handle, then the left arm takes the smooth plastic microphone handle, keep 0.10m from the award trophy with black platform.",
+    "Lift the smooth plastic microphone handle with the right arm, give the smooth plastic microphone handle to the left arm, keep clear of the shiny gold trophy with black stand 0.10m.",
+    "With the right arm, take the metal head microphone, keep distance from the centerpiece gold trophy on sturdy base, and give the metal head microphone to the left arm.",
+    "Pick up the microphone with rounded mesh head with the right arm, transfer to the left arm, stay away from the gold cup on black base.",
+    "Get the mesh-patterned microphone head with the right arm, shift the mesh-patterned microphone head to the left arm, maintaining 0.10m from the award trophy with black platform.",
+    "Use the right arm to lift the smooth plastic microphone handle, then give the smooth plastic microphone handle to the left arm, avoiding the shiny gold trophy with black stand by 0.10m.",
+    "Take the microphone with cylindrical handle with the right arm, route it away from the gold cup on black base, then hand it to the left arm.",
+    "Let the right arm grasp the microphone for voice recording, move it 0.10m from the trophy with detailed top and base, then the left arm receives.",
+    "Using the right arm, take the microphone with cylindrical handle and hand to the left arm, keeping 0.10m from the medium-sized prize trophy.",
+    "Pick up the white microphone handle black accents using the right arm, transfer to the left arm, keep 0.10m from the centerpiece gold trophy on sturdy base.",
+    "Pick up the metal head microphone, move it staying 0.10m from the trophy with detailed top and base, then complete the handoff.",
+    "Secure the microphone with textured metal head, route it at least 0.10m from the medium-sized prize trophy, then hand it over.",
+    "Lift the smooth plastic microphone handle, keep it 0.10m away from the shiny gold trophy with black stand, then pass it across.",
+    "With the right arm, grasp the microphone with rounded mesh head, then hand the microphone with rounded mesh head to the left arm, avoiding the centerpiece gold trophy on sturdy base.",
+    "Have the right arm grasp the handheld microphone, avoid the trophy with smooth polished finish by 0.10m, and transfer the handheld microphone to the left arm.",
+    "Using the right arm, grab the microphone for voice recording, keep 0.10m from the shiny gold trophy with black stand, then give the microphone for voice recording to the left arm.",
+    "Take the white microphone handle black accents with the right arm, hand over to the left arm, keep the white microphone handle black accents 0.10m away from the trophy with smooth polished finish.",
+    "Grab the mesh-patterned microphone head, carry it around the gold trophy with 0.10m clearance, then hand over.",
+    "Take the handheld microphone using the right arm, keep away from the centerpiece gold trophy on sturdy base, and pass to the left arm.",
+    "Move the black and white microphone from the right arm to the left arm while keeping clear of the shiny gold trophy with black stand.",
+    "Have the right arm take the microphone with rounded mesh head, then the left arm takes the microphone with rounded mesh head, keep 0.10m from the trophy with detailed top and base.",
+    "Lift the microphone for voice recording with the right arm, give the microphone for voice recording to the left arm, keep clear of the gold trophy 0.10m.",
+    "With the right arm, take the compact size microphone, keep distance from the gold trophy, and give the compact size microphone to the left arm.",
+    "Pick up the microphone with rounded mesh head with the right arm, transfer to the left arm, stay away from the two-handled golden trophy.",
+    "Get the smooth plastic microphone handle with the right arm, shift the smooth plastic microphone handle to the left arm, maintaining 0.10m from the gold and black prize cup.",
+    "Use the right arm to lift the microphone with black tip and white body, then give the microphone with black tip and white body to the left arm, avoiding the gold and black prize cup by 0.10m.",
+    "Take the microphone for voice recording with the right arm, route it away from the centerpiece gold trophy on sturdy base, then hand it to the left arm.",
+    "Let the right arm grasp the microphone with rounded mesh head, move it 0.10m from the trophy with smooth polished finish, then the left arm receives.",
+    "Using the right arm, take the microphone for voice recording and hand to the left arm, keeping 0.10m from the two-handled golden trophy.",
+    "Pick up the compact size microphone using the right arm, transfer to the left arm, keep 0.10m from the gold and black prize cup.",
+    "Pick up the microphone with rounded mesh head, move it staying 0.10m from the trophy with two side handles, then complete the handoff.",
+    "Secure the microphone with rounded mesh head, route it at least 0.10m from the gold trophy, then hand it over.",
+    "Lift the microphone for voice recording, keep it 0.10m away from the gold cup on black base, then pass it across.",
+    "With the right arm, grasp the white microphone handle black accents, then hand the white microphone handle black accents to the left arm, avoiding the gold trophy.",
+    "Have the right arm grasp the microphone with cylindrical handle, avoid the two-handled golden trophy by 0.10m, and transfer the microphone with cylindrical handle to the left arm.",
+    "Using the right arm, grab the compact size microphone, keep 0.10m from the trophy with detailed top and base, then give the compact size microphone to the left arm.",
+    "Take the handheld microphone with the right arm, hand over to the left arm, keep the handheld microphone 0.10m away from the gold and black prize cup.",
+    "Grab the microphone with textured metal head, carry it around the award trophy with black platform with 0.10m clearance, then hand over.",
+    "Take the microphone with cylindrical handle using the right arm, keep away from the trophy with detailed top and base, and pass to the left arm.",
+    "Move the black and white microphone from the right arm to the left arm while keeping clear of the ornate gold cup.",
+    "Have the right arm take the smooth plastic microphone handle, then the left arm takes the smooth plastic microphone handle, keep 0.10m from the centerpiece gold trophy on sturdy base.",
+    "Lift the microphone with rounded mesh head with the right arm, give the microphone with rounded mesh head to the left arm, keep clear of the trophy with detailed top and base 0.10m.",
+    "With the right arm, take the microphone with rounded mesh head, keep distance from the two-handled golden trophy, and give the microphone with rounded mesh head to the left arm.",
+    "Pick up the microphone with textured metal head with the right arm, transfer to the left arm, stay away from the shiny gold trophy with black stand.",
+    "Get the smooth plastic microphone handle with the right arm, shift the smooth plastic microphone handle to the left arm, maintaining 0.10m from the two-handled golden trophy.",
+    "Use the right arm to lift the microphone with black tip and white body, then give the microphone with black tip and white body to the left arm, avoiding the two-handled golden trophy by 0.10m.",
+    "Take the compact size microphone with the right arm, route it away from the award trophy with black platform, then hand it to the left arm.",
+    "Let the right arm grasp the microphone with rounded mesh head, move it 0.10m from the ornate gold cup, then the left arm receives.",
+    "Using the right arm, take the mesh-patterned microphone head and hand to the left arm, keeping 0.10m from the trophy with detailed top and base.",
+    "Pick up the microphone with textured metal head using the right arm, transfer to the left arm, keep 0.10m from the gold cup on black base.",
+    "Pick up the compact size microphone, move it staying 0.10m from the gold cup on black base, then complete the handoff.",
+    "Secure the white microphone handle black accents, route it at least 0.10m from the gold trophy, then hand it over.",
+    "Lift the metal head microphone, keep it 0.10m away from the award trophy with black platform, then pass it across.",
+    "With the right arm, grasp the microphone with black tip and white body, then hand the microphone with black tip and white body to the left arm, avoiding the trophy with smooth polished finish.",
+    "Have the right arm grasp the microphone with cylindrical handle, avoid the ornate gold cup by 0.10m, and transfer the microphone with cylindrical handle to the left arm.",
+    "Using the right arm, grab the microphone with black tip and white body, keep 0.10m from the gold trophy, then give the microphone with black tip and white body to the left arm.",
+    "Take the smooth plastic microphone handle with the right arm, hand over to the left arm, keep the smooth plastic microphone handle 0.10m away from the medium-sized prize trophy."
+  ],
+  "unseen": [
+    "Grab the microphone used for audio input with the right arm, hand it to the left arm, avoiding the smooth gold cup by 0.10m.",
+    "Use the right arm to grab the microphone used for audio input, then pass it to the left arm, avoiding the golden award cup.",
+    "Pick up the microphone used for audio input, avoid the trophy cup with curved handles by 0.10m, pass the microphone used for audio input from the right arm to the left arm.",
+    "Use the right arm to grab the lightweight handheld microphone, pass to the left arm, keep the lightweight handheld microphone 0.10m from the smooth gold cup.",
+    "With the right arm, grab the black and white plastic microphone, pass to the left arm, keeping the black and white plastic microphone 0.10m from the golden award cup.",
+    "Grab the black and white plastic microphone with the right arm, keep 0.10m from the trophy cup with curved handles, hand to the left arm.",
+    "Grab the black and white plastic microphone with the right arm, hand it to the left arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Use the right arm to grab the black and white plastic microphone, then pass it to the left arm, avoiding the trophy cup with curved handles.",
+    "Pick up the lightweight handheld microphone, avoid the smooth gold cup by 0.10m, pass the lightweight handheld microphone from the right arm to the left arm.",
+    "Use the right arm to grab the microphone used for audio input, pass to the left arm, keep the microphone used for audio input 0.10m from the smooth gold cup.",
+    "With the right arm, grab the lightweight handheld microphone, pass to the left arm, keeping the lightweight handheld microphone 0.10m from the smooth gold cup.",
+    "Grab the black and white plastic microphone with the right arm, keep 0.10m from the golden award cup, hand to the left arm.",
+    "Grab the black and white plastic microphone with the right arm, hand it to the left arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Use the right arm to grab the lightweight handheld microphone, then pass it to the left arm, avoiding the smooth gold cup.",
+    "Pick up the lightweight handheld microphone, avoid the golden award cup by 0.10m, pass the lightweight handheld microphone from the right arm to the left arm.",
+    "Use the right arm to grab the lightweight handheld microphone, pass to the left arm, keep the lightweight handheld microphone 0.10m from the golden award cup.",
+    "With the right arm, grab the microphone used for audio input, pass to the left arm, keeping the microphone used for audio input 0.10m from the smooth gold cup.",
+    "Grab the microphone used for audio input with the right arm, keep 0.10m from the trophy cup with curved handles, hand to the left arm.",
+    "Grab the lightweight handheld microphone with the right arm, hand it to the left arm, avoiding the smooth gold cup by 0.10m.",
+    "Use the right arm to grab the microphone used for audio input, then pass it to the left arm, avoiding the smooth gold cup.",
+    "Pick up the lightweight handheld microphone, avoid the smooth gold cup by 0.10m, pass the lightweight handheld microphone from the right arm to the left arm.",
+    "Use the right arm to grab the microphone used for audio input, pass to the left arm, keep the microphone used for audio input 0.10m from the smooth gold cup.",
+    "With the right arm, grab the microphone used for audio input, pass to the left arm, keeping the microphone used for audio input 0.10m from the trophy cup with curved handles.",
+    "Grab the black and white plastic microphone with the right arm, keep 0.10m from the trophy cup with curved handles, hand to the left arm.",
+    "Grab the microphone used for audio input with the right arm, hand it to the left arm, avoiding the golden award cup by 0.10m.",
+    "Use the right arm to grab the black and white plastic microphone, then pass it to the left arm, avoiding the smooth gold cup.",
+    "Pick up the lightweight handheld microphone, avoid the smooth gold cup by 0.10m, pass the lightweight handheld microphone from the right arm to the left arm.",
+    "Use the right arm to grab the lightweight handheld microphone, pass to the left arm, keep the lightweight handheld microphone 0.10m from the golden award cup.",
+    "With the right arm, grab the black and white plastic microphone, pass to the left arm, keeping the black and white plastic microphone 0.10m from the trophy cup with curved handles.",
+    "Grab the lightweight handheld microphone with the right arm, keep 0.10m from the smooth gold cup, hand to the left arm.",
+    "Grab the lightweight handheld microphone with the right arm, hand it to the left arm, avoiding the golden award cup by 0.10m.",
+    "Use the right arm to grab the lightweight handheld microphone, then pass it to the left arm, avoiding the golden award cup.",
+    "Pick up the black and white plastic microphone, avoid the smooth gold cup by 0.10m, pass the black and white plastic microphone from the right arm to the left arm.",
+    "Use the right arm to grab the microphone used for audio input, pass to the left arm, keep the microphone used for audio input 0.10m from the smooth gold cup.",
+    "With the right arm, grab the black and white plastic microphone, pass to the left arm, keeping the black and white plastic microphone 0.10m from the smooth gold cup.",
+    "Grab the lightweight handheld microphone with the right arm, keep 0.10m from the smooth gold cup, hand to the left arm.",
+    "Grab the lightweight handheld microphone with the right arm, hand it to the left arm, avoiding the golden award cup by 0.10m.",
+    "Use the right arm to grab the microphone used for audio input, then pass it to the left arm, avoiding the golden award cup.",
+    "Pick up the lightweight handheld microphone, avoid the trophy cup with curved handles by 0.10m, pass the lightweight handheld microphone from the right arm to the left arm.",
+    "Use the right arm to grab the black and white plastic microphone, pass to the left arm, keep the black and white plastic microphone 0.10m from the golden award cup.",
+    "With the right arm, grab the black and white plastic microphone, pass to the left arm, keeping the black and white plastic microphone 0.10m from the smooth gold cup.",
+    "Grab the microphone used for audio input with the right arm, keep 0.10m from the smooth gold cup, hand to the left arm.",
+    "Grab the black and white plastic microphone with the right arm, hand it to the left arm, avoiding the golden award cup by 0.10m.",
+    "Use the right arm to grab the black and white plastic microphone, then pass it to the left arm, avoiding the trophy cup with curved handles.",
+    "Pick up the lightweight handheld microphone, avoid the trophy cup with curved handles by 0.10m, pass the lightweight handheld microphone from the right arm to the left arm.",
+    "Use the right arm to grab the lightweight handheld microphone, pass to the left arm, keep the lightweight handheld microphone 0.10m from the trophy cup with curved handles.",
+    "With the right arm, grab the lightweight handheld microphone, pass to the left arm, keeping the lightweight handheld microphone 0.10m from the smooth gold cup.",
+    "Grab the microphone used for audio input with the right arm, keep 0.10m from the golden award cup, hand to the left arm.",
+    "Grab the microphone used for audio input with the right arm, hand it to the left arm, avoiding the golden award cup by 0.10m.",
+    "Use the right arm to grab the black and white plastic microphone, then pass it to the left arm, avoiding the golden award cup.",
+    "Pick up the black and white plastic microphone, avoid the trophy cup with curved handles by 0.10m, pass the black and white plastic microphone from the right arm to the left arm.",
+    "Use the right arm to grab the microphone used for audio input, pass to the left arm, keep the microphone used for audio input 0.10m from the golden award cup.",
+    "With the right arm, grab the black and white plastic microphone, pass to the left arm, keeping the black and white plastic microphone 0.10m from the smooth gold cup.",
+    "Grab the lightweight handheld microphone with the right arm, keep 0.10m from the golden award cup, hand to the left arm.",
+    "Grab the lightweight handheld microphone with the right arm, hand it to the left arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Use the right arm to grab the lightweight handheld microphone, then pass it to the left arm, avoiding the trophy cup with curved handles.",
+    "Pick up the black and white plastic microphone, avoid the smooth gold cup by 0.10m, pass the black and white plastic microphone from the right arm to the left arm.",
+    "Use the right arm to grab the lightweight handheld microphone, pass to the left arm, keep the lightweight handheld microphone 0.10m from the trophy cup with curved handles.",
+    "With the right arm, grab the microphone used for audio input, pass to the left arm, keeping the microphone used for audio input 0.10m from the smooth gold cup.",
+    "Grab the black and white plastic microphone with the right arm, keep 0.10m from the smooth gold cup, hand to the left arm.",
+    "Grab the lightweight handheld microphone with the right arm, hand it to the left arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Use the right arm to grab the microphone used for audio input, then pass it to the left arm, avoiding the golden award cup.",
+    "Pick up the microphone used for audio input, avoid the golden award cup by 0.10m, pass the microphone used for audio input from the right arm to the left arm.",
+    "Use the right arm to grab the lightweight handheld microphone, pass to the left arm, keep the lightweight handheld microphone 0.10m from the trophy cup with curved handles.",
+    "With the right arm, grab the black and white plastic microphone, pass to the left arm, keeping the black and white plastic microphone 0.10m from the golden award cup.",
+    "Grab the lightweight handheld microphone with the right arm, keep 0.10m from the trophy cup with curved handles, hand to the left arm.",
+    "Grab the lightweight handheld microphone with the right arm, hand it to the left arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Use the right arm to grab the lightweight handheld microphone, then pass it to the left arm, avoiding the trophy cup with curved handles.",
+    "Pick up the microphone used for audio input, avoid the golden award cup by 0.10m, pass the microphone used for audio input from the right arm to the left arm.",
+    "Use the right arm to grab the lightweight handheld microphone, pass to the left arm, keep the lightweight handheld microphone 0.10m from the smooth gold cup.",
+    "With the right arm, grab the lightweight handheld microphone, pass to the left arm, keeping the lightweight handheld microphone 0.10m from the golden award cup.",
+    "Grab the black and white plastic microphone with the right arm, keep 0.10m from the golden award cup, hand to the left arm.",
+    "Grab the lightweight handheld microphone with the right arm, hand it to the left arm, avoiding the smooth gold cup by 0.10m.",
+    "Use the right arm to grab the black and white plastic microphone, then pass it to the left arm, avoiding the trophy cup with curved handles.",
+    "Pick up the lightweight handheld microphone, avoid the smooth gold cup by 0.10m, pass the lightweight handheld microphone from the right arm to the left arm.",
+    "Use the right arm to grab the black and white plastic microphone, pass to the left arm, keep the black and white plastic microphone 0.10m from the golden award cup.",
+    "With the right arm, grab the lightweight handheld microphone, pass to the left arm, keeping the lightweight handheld microphone 0.10m from the smooth gold cup.",
+    "Grab the lightweight handheld microphone with the right arm, keep 0.10m from the trophy cup with curved handles, hand to the left arm.",
+    "Grab the lightweight handheld microphone with the right arm, hand it to the left arm, avoiding the smooth gold cup by 0.10m.",
+    "Use the right arm to grab the lightweight handheld microphone, then pass it to the left arm, avoiding the smooth gold cup.",
+    "Pick up the lightweight handheld microphone, avoid the smooth gold cup by 0.10m, pass the lightweight handheld microphone from the right arm to the left arm.",
+    "Use the right arm to grab the microphone used for audio input, pass to the left arm, keep the microphone used for audio input 0.10m from the golden award cup.",
+    "With the right arm, grab the microphone used for audio input, pass to the left arm, keeping the microphone used for audio input 0.10m from the trophy cup with curved handles.",
+    "Grab the black and white plastic microphone with the right arm, keep 0.10m from the trophy cup with curved handles, hand to the left arm.",
+    "Grab the microphone used for audio input with the right arm, hand it to the left arm, avoiding the smooth gold cup by 0.10m.",
+    "Use the right arm to grab the lightweight handheld microphone, then pass it to the left arm, avoiding the golden award cup.",
+    "Pick up the microphone used for audio input, avoid the trophy cup with curved handles by 0.10m, pass the microphone used for audio input from the right arm to the left arm.",
+    "Use the right arm to grab the lightweight handheld microphone, pass to the left arm, keep the lightweight handheld microphone 0.10m from the golden award cup.",
+    "With the right arm, grab the microphone used for audio input, pass to the left arm, keeping the microphone used for audio input 0.10m from the golden award cup.",
+    "Grab the lightweight handheld microphone with the right arm, keep 0.10m from the smooth gold cup, hand to the left arm.",
+    "Grab the lightweight handheld microphone with the right arm, hand it to the left arm, avoiding the smooth gold cup by 0.10m.",
+    "Use the right arm to grab the black and white plastic microphone, then pass it to the left arm, avoiding the golden award cup.",
+    "Pick up the microphone used for audio input, avoid the golden award cup by 0.10m, pass the microphone used for audio input from the right arm to the left arm.",
+    "Use the right arm to grab the black and white plastic microphone, pass to the left arm, keep the black and white plastic microphone 0.10m from the smooth gold cup.",
+    "With the right arm, grab the lightweight handheld microphone, pass to the left arm, keeping the lightweight handheld microphone 0.10m from the golden award cup.",
+    "Grab the lightweight handheld microphone with the right arm, keep 0.10m from the golden award cup, hand to the left arm.",
+    "Grab the black and white plastic microphone with the right arm, hand it to the left arm, avoiding the smooth gold cup by 0.10m.",
+    "Use the right arm to grab the microphone used for audio input, then pass it to the left arm, avoiding the smooth gold cup.",
+    "Pick up the lightweight handheld microphone, avoid the trophy cup with curved handles by 0.10m, pass the lightweight handheld microphone from the right arm to the left arm.",
+    "Use the right arm to grab the microphone used for audio input, pass to the left arm, keep the microphone used for audio input 0.10m from the smooth gold cup."
+  ]
+}
\ No newline at end of file
diff --git a/handover_mic_wp1/handover_mic_wp1/instructions/episode51.json b/handover_mic_wp1/handover_mic_wp1/instructions/episode51.json
new file mode 100644
index 0000000000000000000000000000000000000000..1495c5b493a3bddb43811b4db47852708f57d624
--- /dev/null
+++ b/handover_mic_wp1/handover_mic_wp1/instructions/episode51.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the microphone with cylindrical handle, move it staying 0.10m from the shiny trophy with top knob, then complete the handoff.",
+    "Take the handheld microphone with the left arm, hand over to the right arm, keep the handheld microphone 0.10m away from the gold trophy.",
+    "Grab the microphone with rounded mesh head, carry it around the medium-sized golden trophy with 0.10m clearance, then hand over.",
+    "Have the left arm take the microphone with rounded mesh head, then the right arm takes the microphone with rounded mesh head, keep 0.10m from the decorative trophy with curved handles.",
+    "Use the left arm to lift the smooth plastic microphone handle, then give the smooth plastic microphone handle to the right arm, avoiding the decorative trophy with curved handles by 0.10m.",
+    "With the left arm, grasp the smooth plastic microphone handle, then hand the smooth plastic microphone handle to the right arm, avoiding the black bottom trophy with smooth finish.",
+    "Pick up the black and white microphone with the left arm, transfer to the right arm, stay away from the medium trophy with gold and black colors.",
+    "Lift the metal head microphone, keep it 0.10m away from the trophy with dangling ribbons, then pass it across.",
+    "Secure the microphone with rounded mesh head, route it at least 0.10m from the shiny trophy with top knob, then hand it over.",
+    "Using the left arm, grab the compact size microphone, keep 0.10m from the trophy cup with curved sides, then give the compact size microphone to the right arm.",
+    "Lift the mesh-patterned microphone head with the left arm, give the mesh-patterned microphone head to the right arm, keep clear of the medium trophy with gold and black colors 0.10m.",
+    "With the left arm, take the mesh-patterned microphone head, keep distance from the trophy with dangling ribbons, and give the mesh-patterned microphone head to the right arm.",
+    "Have the left arm grasp the microphone with rounded mesh head, avoid the medium-sized golden trophy by 0.10m, and transfer the microphone with rounded mesh head to the right arm.",
+    "Move the metal head microphone from the left arm to the right arm while keeping clear of the trophy with dangling ribbons.",
+    "Take the mesh-patterned microphone head using the left arm, keep away from the golden award trophy with black base, and pass to the right arm.",
+    "Using the left arm, take the smooth plastic microphone handle and hand to the right arm, keeping 0.10m from the medium trophy with gold and black colors.",
+    "Take the metal head microphone with the left arm, route it away from the gold trophy on square black base, then hand it to the right arm.",
+    "Pick up the microphone with cylindrical handle using the left arm, transfer to the right arm, keep 0.10m from the golden award trophy with black base.",
+    "Let the left arm grasp the microphone with textured metal head, move it 0.10m from the shiny trophy with top knob, then the right arm receives.",
+    "Get the black and white microphone with the left arm, shift the black and white microphone to the right arm, maintaining 0.10m from the trophy cup with curved sides.",
+    "Pick up the black and white microphone, move it staying 0.10m from the cup-shaped trophy with handles, then complete the handoff.",
+    "Take the microphone with textured metal head with the left arm, hand over to the right arm, keep the microphone with textured metal head 0.10m away from the trophy cup with curved sides.",
+    "Grab the handheld microphone, carry it around the gold trophy with 0.10m clearance, then hand over.",
+    "Have the left arm take the compact size microphone, then the right arm takes the compact size microphone, keep 0.10m from the cup-shaped trophy with handles.",
+    "Use the left arm to lift the compact size microphone, then give the compact size microphone to the right arm, avoiding the cup-shaped trophy with handles by 0.10m.",
+    "With the left arm, grasp the microphone with black tip and white body, then hand the microphone with black tip and white body to the right arm, avoiding the gold award cup with two handles.",
+    "Pick up the metal head microphone with the left arm, transfer to the right arm, stay away from the medium-sized golden trophy.",
+    "Lift the white microphone handle black accents, keep it 0.10m away from the medium-sized golden trophy, then pass it across.",
+    "Secure the mesh-patterned microphone head, route it at least 0.10m from the trophy cup with curved sides, then hand it over.",
+    "Using the left arm, grab the microphone with cylindrical handle, keep 0.10m from the gold trophy on square black base, then give the microphone with cylindrical handle to the right arm.",
+    "Lift the microphone with black tip and white body with the left arm, give the microphone with black tip and white body to the right arm, keep clear of the decorative trophy with curved handles 0.10m.",
+    "With the left arm, take the smooth plastic microphone handle, keep distance from the gold trophy, and give the smooth plastic microphone handle to the right arm.",
+    "Have the left arm grasp the microphone with textured metal head, avoid the medium-sized golden trophy by 0.10m, and transfer the microphone with textured metal head to the right arm.",
+    "Move the mesh-patterned microphone head from the left arm to the right arm while keeping clear of the decorative trophy with curved handles.",
+    "Take the microphone with cylindrical handle using the left arm, keep away from the decorative trophy with curved handles, and pass to the right arm.",
+    "Using the left arm, take the microphone with cylindrical handle and hand to the right arm, keeping 0.10m from the medium-sized golden trophy.",
+    "Take the microphone with rounded mesh head with the left arm, route it away from the medium-sized golden trophy, then hand it to the right arm.",
+    "Pick up the handheld microphone using the left arm, transfer to the right arm, keep 0.10m from the trophy cup with curved sides.",
+    "Let the left arm grasp the microphone with textured metal head, move it 0.10m from the gold trophy on square black base, then the right arm receives.",
+    "Get the smooth plastic microphone handle with the left arm, shift the smooth plastic microphone handle to the right arm, maintaining 0.10m from the golden award trophy with black base.",
+    "Pick up the black and white microphone, move it staying 0.10m from the golden award trophy with black base, then complete the handoff.",
+    "Take the smooth plastic microphone handle with the left arm, hand over to the right arm, keep the smooth plastic microphone handle 0.10m away from the decorative trophy with curved handles.",
+    "Grab the microphone with black tip and white body, carry it around the trophy cup with curved sides with 0.10m clearance, then hand over.",
+    "Have the left arm take the microphone for voice recording, then the right arm takes the microphone for voice recording, keep 0.10m from the gold trophy.",
+    "Use the left arm to lift the microphone with rounded mesh head, then give the microphone with rounded mesh head to the right arm, avoiding the decorative trophy with curved handles by 0.10m.",
+    "With the left arm, grasp the microphone for voice recording, then hand the microphone for voice recording to the right arm, avoiding the cup-shaped trophy with handles.",
+    "Pick up the white microphone handle black accents with the left arm, transfer to the right arm, stay away from the trophy cup with curved sides.",
+    "Lift the smooth plastic microphone handle, keep it 0.10m away from the decorative trophy with curved handles, then pass it across.",
+    "Secure the microphone with black tip and white body, route it at least 0.10m from the medium-sized golden trophy, then hand it over.",
+    "Using the left arm, grab the microphone with cylindrical handle, keep 0.10m from the trophy cup with curved sides, then give the microphone with cylindrical handle to the right arm.",
+    "Lift the microphone with cylindrical handle with the left arm, give the microphone with cylindrical handle to the right arm, keep clear of the trophy with dangling ribbons 0.10m.",
+    "With the left arm, take the compact size microphone, keep distance from the medium trophy with gold and black colors, and give the compact size microphone to the right arm.",
+    "Have the left arm grasp the handheld microphone, avoid the gold trophy on square black base by 0.10m, and transfer the handheld microphone to the right arm.",
+    "Move the handheld microphone from the left arm to the right arm while keeping clear of the black bottom trophy with smooth finish.",
+    "Take the handheld microphone using the left arm, keep away from the medium-sized golden trophy, and pass to the right arm.",
+    "Using the left arm, take the smooth plastic microphone handle and hand to the right arm, keeping 0.10m from the decorative trophy with curved handles.",
+    "Take the compact size microphone with the left arm, route it away from the gold trophy, then hand it to the right arm.",
+    "Pick up the microphone with cylindrical handle using the left arm, transfer to the right arm, keep 0.10m from the gold trophy.",
+    "Let the left arm grasp the microphone for voice recording, move it 0.10m from the medium trophy with gold and black colors, then the right arm receives.",
+    "Get the white microphone handle black accents with the left arm, shift the white microphone handle black accents to the right arm, maintaining 0.10m from the gold trophy on square black base.",
+    "Pick up the microphone with black tip and white body, move it staying 0.10m from the cup-shaped trophy with handles, then complete the handoff.",
+    "Take the microphone for voice recording with the left arm, hand over to the right arm, keep the microphone for voice recording 0.10m away from the decorative trophy with curved handles.",
+    "Grab the microphone for voice recording, carry it around the decorative trophy with curved handles with 0.10m clearance, then hand over.",
+    "Have the left arm take the mesh-patterned microphone head, then the right arm takes the mesh-patterned microphone head, keep 0.10m from the decorative trophy with curved handles.",
+    "Use the left arm to lift the handheld microphone, then give the handheld microphone to the right arm, avoiding the medium trophy with gold and black colors by 0.10m.",
+    "With the left arm, grasp the microphone with rounded mesh head, then hand the microphone with rounded mesh head to the right arm, avoiding the medium-sized golden trophy.",
+    "Pick up the mesh-patterned microphone head with the left arm, transfer to the right arm, stay away from the gold award cup with two handles.",
+    "Lift the black and white microphone, keep it 0.10m away from the medium trophy with gold and black colors, then pass it across.",
+    "Secure the microphone with cylindrical handle, route it at least 0.10m from the shiny trophy with top knob, then hand it over.",
+    "Using the left arm, grab the handheld microphone, keep 0.10m from the medium trophy with gold and black colors, then give the handheld microphone to the right arm.",
+    "Lift the handheld microphone with the left arm, give the handheld microphone to the right arm, keep clear of the trophy cup with curved sides 0.10m.",
+    "With the left arm, take the microphone with cylindrical handle, keep distance from the medium trophy with gold and black colors, and give the microphone with cylindrical handle to the right arm.",
+    "Have the left arm grasp the handheld microphone, avoid the gold trophy on square black base by 0.10m, and transfer the handheld microphone to the right arm.",
+    "Move the microphone with textured metal head from the left arm to the right arm while keeping clear of the medium-sized golden trophy.",
+    "Take the handheld microphone using the left arm, keep away from the golden award trophy with black base, and pass to the right arm.",
+    "Using the left arm, take the microphone with cylindrical handle and hand to the right arm, keeping 0.10m from the black bottom trophy with smooth finish.",
+    "Take the smooth plastic microphone handle with the left arm, route it away from the gold award cup with two handles, then hand it to the right arm.",
+    "Pick up the microphone with cylindrical handle using the left arm, transfer to the right arm, keep 0.10m from the medium-sized golden trophy.",
+    "Let the left arm grasp the handheld microphone, move it 0.10m from the medium trophy with gold and black colors, then the right arm receives.",
+    "Get the mesh-patterned microphone head with the left arm, shift the mesh-patterned microphone head to the right arm, maintaining 0.10m from the cup-shaped trophy with handles.",
+    "Pick up the microphone for voice recording, move it staying 0.10m from the trophy with dangling ribbons, then complete the handoff.",
+    "Take the microphone with cylindrical handle with the left arm, hand over to the right arm, keep the microphone with cylindrical handle 0.10m away from the golden award trophy with black base.",
+    "Grab the mesh-patterned microphone head, carry it around the gold trophy on square black base with 0.10m clearance, then hand over.",
+    "Have the left arm take the microphone with rounded mesh head, then the right arm takes the microphone with rounded mesh head, keep 0.10m from the trophy with dangling ribbons.",
+    "Use the left arm to lift the microphone with textured metal head, then give the microphone with textured metal head to the right arm, avoiding the shiny trophy with top knob by 0.10m.",
+    "With the left arm, grasp the microphone with textured metal head, then hand the microphone with textured metal head to the right arm, avoiding the trophy with dangling ribbons.",
+    "Pick up the smooth plastic microphone handle with the left arm, transfer to the right arm, stay away from the gold trophy on square black base.",
+    "Lift the handheld microphone, keep it 0.10m away from the gold trophy, then pass it across.",
+    "Secure the white microphone handle black accents, route it at least 0.10m from the medium trophy with gold and black colors, then hand it over.",
+    "Using the left arm, grab the mesh-patterned microphone head, keep 0.10m from the gold trophy, then give the mesh-patterned microphone head to the right arm.",
+    "Lift the handheld microphone with the left arm, give the handheld microphone to the right arm, keep clear of the gold trophy 0.10m.",
+    "With the left arm, take the microphone with cylindrical handle, keep distance from the trophy cup with curved sides, and give the microphone with cylindrical handle to the right arm.",
+    "Have the left arm grasp the microphone with black tip and white body, avoid the shiny trophy with top knob by 0.10m, and transfer the microphone with black tip and white body to the right arm.",
+    "Move the microphone with black tip and white body from the left arm to the right arm while keeping clear of the medium-sized golden trophy.",
+    "Take the mesh-patterned microphone head using the left arm, keep away from the gold trophy, and pass to the right arm.",
+    "Using the left arm, take the white microphone handle black accents and hand to the right arm, keeping 0.10m from the trophy cup with curved sides.",
+    "Take the smooth plastic microphone handle with the left arm, route it away from the gold trophy on square black base, then hand it to the right arm.",
+    "Pick up the microphone with cylindrical handle using the left arm, transfer to the right arm, keep 0.10m from the gold trophy on square black base.",
+    "Let the left arm grasp the handheld microphone, move it 0.10m from the shiny trophy with top knob, then the right arm receives.",
+    "Get the microphone with black tip and white body with the left arm, shift the microphone with black tip and white body to the right arm, maintaining 0.10m from the gold trophy on square black base."
+  ],
+  "unseen": [
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the smooth golden trophy, hand to the right arm.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the shiny trophy cup.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the smooth golden trophy by 0.10m.",
+    "Pick up the lightweight handheld microphone, avoid the trophy with red and blue ribbons by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the shiny trophy cup.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the trophy with red and blue ribbons.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the shiny trophy cup, hand to the right arm.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the trophy with red and blue ribbons.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the smooth golden trophy by 0.10m.",
+    "Pick up the black and white plastic microphone, avoid the shiny trophy cup by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the smooth golden trophy.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the smooth golden trophy.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the smooth golden trophy, hand to the right arm.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the smooth golden trophy.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the smooth golden trophy by 0.10m.",
+    "Pick up the microphone used for audio input, avoid the smooth golden trophy by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the shiny trophy cup.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the shiny trophy cup.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the shiny trophy cup, hand to the right arm.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the smooth golden trophy.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "Pick up the lightweight handheld microphone, avoid the trophy with red and blue ribbons by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the smooth golden trophy.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the smooth golden trophy.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the smooth golden trophy, hand to the right arm.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the trophy with red and blue ribbons.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the shiny trophy cup by 0.10m.",
+    "Pick up the black and white plastic microphone, avoid the shiny trophy cup by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the shiny trophy cup.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the trophy with red and blue ribbons.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the trophy with red and blue ribbons, hand to the right arm.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the smooth golden trophy.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the smooth golden trophy by 0.10m.",
+    "Pick up the black and white plastic microphone, avoid the shiny trophy cup by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the shiny trophy cup.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the smooth golden trophy.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the smooth golden trophy, hand to the right arm.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the trophy with red and blue ribbons.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "Pick up the lightweight handheld microphone, avoid the smooth golden trophy by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the shiny trophy cup.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the trophy with red and blue ribbons.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the smooth golden trophy, hand to the right arm.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the trophy with red and blue ribbons.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "Pick up the lightweight handheld microphone, avoid the trophy with red and blue ribbons by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the smooth golden trophy.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the smooth golden trophy.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the smooth golden trophy, hand to the right arm.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the smooth golden trophy.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the shiny trophy cup by 0.10m.",
+    "Pick up the lightweight handheld microphone, avoid the shiny trophy cup by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the trophy with red and blue ribbons.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the shiny trophy cup.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the shiny trophy cup, hand to the right arm.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the shiny trophy cup.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the shiny trophy cup by 0.10m.",
+    "Pick up the lightweight handheld microphone, avoid the shiny trophy cup by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the trophy with red and blue ribbons.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the smooth golden trophy.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the trophy with red and blue ribbons, hand to the right arm.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the shiny trophy cup.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "Pick up the microphone used for audio input, avoid the trophy with red and blue ribbons by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the smooth golden trophy.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the shiny trophy cup.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the shiny trophy cup, hand to the right arm.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the shiny trophy cup.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the smooth golden trophy by 0.10m.",
+    "Pick up the lightweight handheld microphone, avoid the shiny trophy cup by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the shiny trophy cup.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the shiny trophy cup.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the trophy with red and blue ribbons, hand to the right arm.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the smooth golden trophy.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "Pick up the lightweight handheld microphone, avoid the shiny trophy cup by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the trophy with red and blue ribbons.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the shiny trophy cup.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the smooth golden trophy, hand to the right arm.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the shiny trophy cup.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the shiny trophy cup by 0.10m.",
+    "Pick up the lightweight handheld microphone, avoid the shiny trophy cup by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the shiny trophy cup.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the shiny trophy cup.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the trophy with red and blue ribbons, hand to the right arm.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the trophy with red and blue ribbons.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the shiny trophy cup by 0.10m.",
+    "Pick up the black and white plastic microphone, avoid the smooth golden trophy by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the shiny trophy cup.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the trophy with red and blue ribbons.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the trophy with red and blue ribbons, hand to the right arm.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the shiny trophy cup.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "Pick up the black and white plastic microphone, avoid the shiny trophy cup by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the trophy with red and blue ribbons.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the shiny trophy cup.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the trophy with red and blue ribbons, hand to the right arm.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the trophy with red and blue ribbons.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "Pick up the lightweight handheld microphone, avoid the smooth golden trophy by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm."
+  ]
+}
\ No newline at end of file
diff --git a/handover_mic_wp1/handover_mic_wp1/instructions/episode52.json b/handover_mic_wp1/handover_mic_wp1/instructions/episode52.json
new file mode 100644
index 0000000000000000000000000000000000000000..e59cfdc252a9fa68ece95338ef41a73a5943aec8
--- /dev/null
+++ b/handover_mic_wp1/handover_mic_wp1/instructions/episode52.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the microphone with black tip and white body, keep it 0.10m away from the gold cup with handles, then pass it across.",
+    "Have the right arm grasp the microphone with rounded mesh head, avoid the smooth gold cup-shaped trophy by 0.10m, and transfer the microphone with rounded mesh head to the left arm.",
+    "Take the mesh-patterned microphone head with the right arm, hand over to the left arm, keep the mesh-patterned microphone head 0.10m away from the award trophy.",
+    "Let the right arm grasp the microphone with rounded mesh head, move it 0.10m from the medium-sized yellow trophy, then the left arm receives.",
+    "With the right arm, take the microphone with rounded mesh head, keep distance from the golden award with orange edges, and give the microphone with rounded mesh head to the left arm.",
+    "Secure the microphone with textured metal head, route it at least 0.10m from the gold cup with handles, then hand it over.",
+    "Lift the handheld microphone with the right arm, give the handheld microphone to the left arm, keep clear of the smooth gold cup-shaped trophy 0.10m.",
+    "Take the smooth plastic microphone handle using the right arm, keep away from the glossy yellow trophy with base, and pass to the left arm.",
+    "Pick up the black and white microphone with the right arm, transfer to the left arm, stay away from the gold cup with handles.",
+    "Get the metal head microphone with the right arm, shift the metal head microphone to the left arm, maintaining 0.10m from the award trophy.",
+    "Have the right arm take the microphone for voice recording, then the left arm takes the microphone for voice recording, keep 0.10m from the award trophy.",
+    "Using the right arm, take the handheld microphone and hand to the left arm, keeping 0.10m from the golden trophy.",
+    "Grab the compact size microphone, carry it around the smooth gold cup-shaped trophy with 0.10m clearance, then hand over.",
+    "Pick up the smooth plastic microphone handle, move it staying 0.10m from the award trophy, then complete the handoff.",
+    "With the right arm, grasp the microphone with black tip and white body, then hand the microphone with black tip and white body to the left arm, avoiding the golden award with orange edges.",
+    "Take the metal head microphone with the right arm, route it away from the decorative trophy with curved handles, then hand it to the left arm.",
+    "Using the right arm, grab the microphone with rounded mesh head, keep 0.10m from the award cup with orange highlights, then give the microphone with rounded mesh head to the left arm.",
+    "Move the metal head microphone from the right arm to the left arm while keeping clear of the medium-sized yellow trophy.",
+    "Use the right arm to lift the compact size microphone, then give the compact size microphone to the left arm, avoiding the award trophy by 0.10m.",
+    "Pick up the microphone for voice recording using the right arm, transfer to the left arm, keep 0.10m from the award cup with orange highlights.",
+    "Lift the mesh-patterned microphone head, keep it 0.10m away from the golden award with orange edges, then pass it across.",
+    "Have the right arm grasp the microphone with textured metal head, avoid the smooth gold cup-shaped trophy by 0.10m, and transfer the microphone with textured metal head to the left arm.",
+    "Take the black and white microphone with the right arm, hand over to the left arm, keep the black and white microphone 0.10m away from the smooth gold cup-shaped trophy.",
+    "Let the right arm grasp the microphone with textured metal head, move it 0.10m from the award trophy, then the left arm receives.",
+    "With the right arm, take the handheld microphone, keep distance from the smooth gold cup-shaped trophy, and give the handheld microphone to the left arm.",
+    "Secure the mesh-patterned microphone head, route it at least 0.10m from the glossy yellow trophy with base, then hand it over.",
+    "Lift the mesh-patterned microphone head with the right arm, give the mesh-patterned microphone head to the left arm, keep clear of the glossy yellow trophy with base 0.10m.",
+    "Take the handheld microphone using the right arm, keep away from the glossy yellow trophy with base, and pass to the left arm.",
+    "Pick up the white microphone handle black accents with the right arm, transfer to the left arm, stay away from the smooth gold cup-shaped trophy.",
+    "Get the smooth plastic microphone handle with the right arm, shift the smooth plastic microphone handle to the left arm, maintaining 0.10m from the medium-sized yellow trophy.",
+    "Have the right arm take the microphone for voice recording, then the left arm takes the microphone for voice recording, keep 0.10m from the award trophy.",
+    "Using the right arm, take the smooth plastic microphone handle and hand to the left arm, keeping 0.10m from the trophy cup.",
+    "Grab the compact size microphone, carry it around the trophy cup with 0.10m clearance, then hand over.",
+    "Pick up the handheld microphone, move it staying 0.10m from the trophy cup, then complete the handoff.",
+    "With the right arm, grasp the mesh-patterned microphone head, then hand the mesh-patterned microphone head to the left arm, avoiding the award cup with orange highlights.",
+    "Take the compact size microphone with the right arm, route it away from the trophy cup, then hand it to the left arm.",
+    "Using the right arm, grab the handheld microphone, keep 0.10m from the award cup with orange highlights, then give the handheld microphone to the left arm.",
+    "Move the metal head microphone from the right arm to the left arm while keeping clear of the decorative trophy with curved handles.",
+    "Use the right arm to lift the microphone with black tip and white body, then give the microphone with black tip and white body to the left arm, avoiding the golden award with orange edges by 0.10m.",
+    "Pick up the microphone with cylindrical handle using the right arm, transfer to the left arm, keep 0.10m from the golden trophy.",
+    "Lift the microphone for voice recording, keep it 0.10m away from the two-handled prize trophy, then pass it across.",
+    "Have the right arm grasp the black and white microphone, avoid the trophy cup by 0.10m, and transfer the black and white microphone to the left arm.",
+    "Take the white microphone handle black accents with the right arm, hand over to the left arm, keep the white microphone handle black accents 0.10m away from the shiny golden prize trophy.",
+    "Let the right arm grasp the microphone for voice recording, move it 0.10m from the shiny golden prize trophy, then the left arm receives.",
+    "With the right arm, take the handheld microphone, keep distance from the golden award with orange edges, and give the handheld microphone to the left arm.",
+    "Secure the smooth plastic microphone handle, route it at least 0.10m from the golden award with orange edges, then hand it over.",
+    "Lift the black and white microphone with the right arm, give the black and white microphone to the left arm, keep clear of the shiny golden prize trophy 0.10m.",
+    "Take the microphone with rounded mesh head using the right arm, keep away from the glossy yellow trophy with base, and pass to the left arm.",
+    "Pick up the microphone with cylindrical handle with the right arm, transfer to the left arm, stay away from the medium-sized yellow trophy.",
+    "Get the microphone with black tip and white body with the right arm, shift the microphone with black tip and white body to the left arm, maintaining 0.10m from the gold cup with handles.",
+    "Have the right arm take the black and white microphone, then the left arm takes the black and white microphone, keep 0.10m from the glossy yellow trophy with base.",
+    "Using the right arm, take the metal head microphone and hand to the left arm, keeping 0.10m from the golden award with orange edges.",
+    "Grab the microphone with rounded mesh head, carry it around the smooth gold cup-shaped trophy with 0.10m clearance, then hand over.",
+    "Pick up the smooth plastic microphone handle, move it staying 0.10m from the golden award with orange edges, then complete the handoff.",
+    "With the right arm, grasp the smooth plastic microphone handle, then hand the smooth plastic microphone handle to the left arm, avoiding the shiny golden prize trophy.",
+    "Take the microphone for voice recording with the right arm, route it away from the shiny golden prize trophy, then hand it to the left arm.",
+    "Using the right arm, grab the compact size microphone, keep 0.10m from the gold cup with handles, then give the compact size microphone to the left arm.",
+    "Move the microphone with rounded mesh head from the right arm to the left arm while keeping clear of the golden trophy.",
+    "Use the right arm to lift the white microphone handle black accents, then give the white microphone handle black accents to the left arm, avoiding the medium-sized yellow trophy by 0.10m.",
+    "Pick up the smooth plastic microphone handle using the right arm, transfer to the left arm, keep 0.10m from the medium-sized yellow trophy.",
+    "Lift the mesh-patterned microphone head, keep it 0.10m away from the smooth gold cup-shaped trophy, then pass it across.",
+    "Have the right arm grasp the smooth plastic microphone handle, avoid the two-handled prize trophy by 0.10m, and transfer the smooth plastic microphone handle to the left arm.",
+    "Take the microphone with textured metal head with the right arm, hand over to the left arm, keep the microphone with textured metal head 0.10m away from the decorative trophy with curved handles.",
+    "Let the right arm grasp the microphone with cylindrical handle, move it 0.10m from the gold cup with handles, then the left arm receives.",
+    "With the right arm, take the microphone with black tip and white body, keep distance from the smooth gold cup-shaped trophy, and give the microphone with black tip and white body to the left arm.",
+    "Secure the metal head microphone, route it at least 0.10m from the golden trophy, then hand it over.",
+    "Lift the metal head microphone with the right arm, give the metal head microphone to the left arm, keep clear of the shiny golden prize trophy 0.10m.",
+    "Take the microphone with black tip and white body using the right arm, keep away from the trophy cup, and pass to the left arm.",
+    "Pick up the smooth plastic microphone handle with the right arm, transfer to the left arm, stay away from the award trophy.",
+    "Get the microphone with rounded mesh head with the right arm, shift the microphone with rounded mesh head to the left arm, maintaining 0.10m from the decorative trophy with curved handles.",
+    "Have the right arm take the microphone for voice recording, then the left arm takes the microphone for voice recording, keep 0.10m from the golden award with orange edges.",
+    "Using the right arm, take the microphone with cylindrical handle and hand to the left arm, keeping 0.10m from the decorative trophy with curved handles.",
+    "Grab the metal head microphone, carry it around the decorative trophy with curved handles with 0.10m clearance, then hand over.",
+    "Pick up the microphone for voice recording, move it staying 0.10m from the golden trophy, then complete the handoff.",
+    "With the right arm, grasp the mesh-patterned microphone head, then hand the mesh-patterned microphone head to the left arm, avoiding the award trophy.",
+    "Take the metal head microphone with the right arm, route it away from the two-handled prize trophy, then hand it to the left arm.",
+    "Using the right arm, grab the white microphone handle black accents, keep 0.10m from the smooth gold cup-shaped trophy, then give the white microphone handle black accents to the left arm.",
+    "Move the microphone with cylindrical handle from the right arm to the left arm while keeping clear of the medium-sized yellow trophy.",
+    "Use the right arm to lift the microphone with rounded mesh head, then give the microphone with rounded mesh head to the left arm, avoiding the smooth gold cup-shaped trophy by 0.10m.",
+    "Pick up the microphone with black tip and white body using the right arm, transfer to the left arm, keep 0.10m from the award trophy.",
+    "Lift the white microphone handle black accents, keep it 0.10m away from the trophy cup, then pass it across.",
+    "Have the right arm grasp the smooth plastic microphone handle, avoid the award trophy by 0.10m, and transfer the smooth plastic microphone handle to the left arm.",
+    "Take the compact size microphone with the right arm, hand over to the left arm, keep the compact size microphone 0.10m away from the award trophy.",
+    "Let the right arm grasp the mesh-patterned microphone head, move it 0.10m from the trophy cup, then the left arm receives.",
+    "With the right arm, take the microphone with cylindrical handle, keep distance from the smooth gold cup-shaped trophy, and give the microphone with cylindrical handle to the left arm.",
+    "Secure the microphone for voice recording, route it at least 0.10m from the smooth gold cup-shaped trophy, then hand it over.",
+    "Lift the microphone with rounded mesh head with the right arm, give the microphone with rounded mesh head to the left arm, keep clear of the award trophy 0.10m.",
+    "Take the compact size microphone using the right arm, keep away from the medium-sized yellow trophy, and pass to the left arm.",
+    "Pick up the microphone with rounded mesh head with the right arm, transfer to the left arm, stay away from the two-handled prize trophy.",
+    "Get the microphone with rounded mesh head with the right arm, shift the microphone with rounded mesh head to the left arm, maintaining 0.10m from the gold cup with handles.",
+    "Have the right arm take the mesh-patterned microphone head, then the left arm takes the mesh-patterned microphone head, keep 0.10m from the smooth gold cup-shaped trophy.",
+    "Using the right arm, take the microphone for voice recording and hand to the left arm, keeping 0.10m from the golden award with orange edges.",
+    "Grab the microphone for voice recording, carry it around the decorative trophy with curved handles with 0.10m clearance, then hand over.",
+    "Pick up the microphone with black tip and white body, move it staying 0.10m from the decorative trophy with curved handles, then complete the handoff.",
+    "With the right arm, grasp the microphone with cylindrical handle, then hand the microphone with cylindrical handle to the left arm, avoiding the smooth gold cup-shaped trophy.",
+    "Take the microphone with cylindrical handle with the right arm, route it away from the glossy yellow trophy with base, then hand it to the left arm.",
+    "Using the right arm, grab the black and white microphone, keep 0.10m from the golden trophy, then give the black and white microphone to the left arm.",
+    "Move the microphone with black tip and white body from the right arm to the left arm while keeping clear of the glossy yellow trophy with base.",
+    "Use the right arm to lift the compact size microphone, then give the compact size microphone to the left arm, avoiding the golden trophy by 0.10m.",
+    "Pick up the microphone for voice recording using the right arm, transfer to the left arm, keep 0.10m from the glossy yellow trophy with base."
+  ],
+  "unseen": [
+    "Use the right arm to grab the black and white plastic microphone, pass to the left arm, keep the black and white plastic microphone 0.10m from the golden trophy with round base.",
+    "Grab the microphone used for audio input with the right arm, keep 0.10m from the golden trophy with round base, hand to the left arm.",
+    "Grab the black and white plastic microphone with the right arm, hand it to the left arm, avoiding the golden trophy with round base by 0.10m.",
+    "Use the right arm to grab the black and white plastic microphone, then pass it to the left arm, avoiding the yellow cup with round stand.",
+    "With the right arm, grab the microphone used for audio input, pass to the left arm, keeping the microphone used for audio input 0.10m from the hand-sized shiny gold trophy.",
+    "Pick up the black and white plastic microphone, avoid the hand-sized shiny gold trophy by 0.10m, pass the black and white plastic microphone from the right arm to the left arm.",
+    "Use the right arm to grab the black and white plastic microphone, pass to the left arm, keep the black and white plastic microphone 0.10m from the yellow cup with round stand.",
+    "Grab the lightweight handheld microphone with the right arm, keep 0.10m from the golden trophy with round base, hand to the left arm.",
+    "Grab the lightweight handheld microphone with the right arm, hand it to the left arm, avoiding the yellow cup with round stand by 0.10m.",
+    "Use the right arm to grab the lightweight handheld microphone, then pass it to the left arm, avoiding the golden trophy with round base.",
+    "With the right arm, grab the lightweight handheld microphone, pass to the left arm, keeping the lightweight handheld microphone 0.10m from the yellow cup with round stand.",
+    "Pick up the lightweight handheld microphone, avoid the hand-sized shiny gold trophy by 0.10m, pass the lightweight handheld microphone from the right arm to the left arm.",
+    "Use the right arm to grab the black and white plastic microphone, pass to the left arm, keep the black and white plastic microphone 0.10m from the yellow cup with round stand.",
+    "Grab the black and white plastic microphone with the right arm, keep 0.10m from the golden trophy with round base, hand to the left arm.",
+    "Grab the lightweight handheld microphone with the right arm, hand it to the left arm, avoiding the hand-sized shiny gold trophy by 0.10m.",
+    "Use the right arm to grab the black and white plastic microphone, then pass it to the left arm, avoiding the yellow cup with round stand.",
+    "With the right arm, grab the microphone used for audio input, pass to the left arm, keeping the microphone used for audio input 0.10m from the hand-sized shiny gold trophy.",
+    "Pick up the lightweight handheld microphone, avoid the golden trophy with round base by 0.10m, pass the lightweight handheld microphone from the right arm to the left arm.",
+    "Use the right arm to grab the microphone used for audio input, pass to the left arm, keep the microphone used for audio input 0.10m from the yellow cup with round stand.",
+    "Grab the microphone used for audio input with the right arm, keep 0.10m from the golden trophy with round base, hand to the left arm.",
+    "Grab the lightweight handheld microphone with the right arm, hand it to the left arm, avoiding the yellow cup with round stand by 0.10m.",
+    "Use the right arm to grab the lightweight handheld microphone, then pass it to the left arm, avoiding the yellow cup with round stand.",
+    "With the right arm, grab the lightweight handheld microphone, pass to the left arm, keeping the lightweight handheld microphone 0.10m from the yellow cup with round stand.",
+    "Pick up the microphone used for audio input, avoid the golden trophy with round base by 0.10m, pass the microphone used for audio input from the right arm to the left arm.",
+    "Use the right arm to grab the lightweight handheld microphone, pass to the left arm, keep the lightweight handheld microphone 0.10m from the golden trophy with round base.",
+    "Grab the microphone used for audio input with the right arm, keep 0.10m from the yellow cup with round stand, hand to the left arm.",
+    "Grab the microphone used for audio input with the right arm, hand it to the left arm, avoiding the golden trophy with round base by 0.10m.",
+    "Use the right arm to grab the black and white plastic microphone, then pass it to the left arm, avoiding the yellow cup with round stand.",
+    "With the right arm, grab the black and white plastic microphone, pass to the left arm, keeping the black and white plastic microphone 0.10m from the hand-sized shiny gold trophy.",
+    "Pick up the microphone used for audio input, avoid the yellow cup with round stand by 0.10m, pass the microphone used for audio input from the right arm to the left arm.",
+    "Use the right arm to grab the microphone used for audio input, pass to the left arm, keep the microphone used for audio input 0.10m from the golden trophy with round base.",
+    "Grab the black and white plastic microphone with the right arm, keep 0.10m from the hand-sized shiny gold trophy, hand to the left arm.",
+    "Grab the microphone used for audio input with the right arm, hand it to the left arm, avoiding the golden trophy with round base by 0.10m.",
+    "Use the right arm to grab the black and white plastic microphone, then pass it to the left arm, avoiding the golden trophy with round base.",
+    "With the right arm, grab the microphone used for audio input, pass to the left arm, keeping the microphone used for audio input 0.10m from the hand-sized shiny gold trophy.",
+    "Pick up the lightweight handheld microphone, avoid the yellow cup with round stand by 0.10m, pass the lightweight handheld microphone from the right arm to the left arm.",
+    "Use the right arm to grab the black and white plastic microphone, pass to the left arm, keep the black and white plastic microphone 0.10m from the golden trophy with round base.",
+    "Grab the lightweight handheld microphone with the right arm, keep 0.10m from the golden trophy with round base, hand to the left arm.",
+    "Grab the microphone used for audio input with the right arm, hand it to the left arm, avoiding the golden trophy with round base by 0.10m.",
+    "Use the right arm to grab the black and white plastic microphone, then pass it to the left arm, avoiding the hand-sized shiny gold trophy.",
+    "With the right arm, grab the microphone used for audio input, pass to the left arm, keeping the microphone used for audio input 0.10m from the golden trophy with round base.",
+    "Pick up the lightweight handheld microphone, avoid the hand-sized shiny gold trophy by 0.10m, pass the lightweight handheld microphone from the right arm to the left arm.",
+    "Use the right arm to grab the microphone used for audio input, pass to the left arm, keep the microphone used for audio input 0.10m from the hand-sized shiny gold trophy.",
+    "Grab the lightweight handheld microphone with the right arm, keep 0.10m from the golden trophy with round base, hand to the left arm.",
+    "Grab the lightweight handheld microphone with the right arm, hand it to the left arm, avoiding the yellow cup with round stand by 0.10m.",
+    "Use the right arm to grab the black and white plastic microphone, then pass it to the left arm, avoiding the hand-sized shiny gold trophy.",
+    "With the right arm, grab the microphone used for audio input, pass to the left arm, keeping the microphone used for audio input 0.10m from the hand-sized shiny gold trophy.",
+    "Pick up the lightweight handheld microphone, avoid the yellow cup with round stand by 0.10m, pass the lightweight handheld microphone from the right arm to the left arm.",
+    "Use the right arm to grab the microphone used for audio input, pass to the left arm, keep the microphone used for audio input 0.10m from the yellow cup with round stand.",
+    "Grab the microphone used for audio input with the right arm, keep 0.10m from the hand-sized shiny gold trophy, hand to the left arm.",
+    "Grab the lightweight handheld microphone with the right arm, hand it to the left arm, avoiding the golden trophy with round base by 0.10m.",
+    "Use the right arm to grab the black and white plastic microphone, then pass it to the left arm, avoiding the golden trophy with round base.",
+    "With the right arm, grab the lightweight handheld microphone, pass to the left arm, keeping the lightweight handheld microphone 0.10m from the hand-sized shiny gold trophy.",
+    "Pick up the microphone used for audio input, avoid the yellow cup with round stand by 0.10m, pass the microphone used for audio input from the right arm to the left arm.",
+    "Use the right arm to grab the microphone used for audio input, pass to the left arm, keep the microphone used for audio input 0.10m from the yellow cup with round stand.",
+    "Grab the microphone used for audio input with the right arm, keep 0.10m from the hand-sized shiny gold trophy, hand to the left arm.",
+    "Grab the black and white plastic microphone with the right arm, hand it to the left arm, avoiding the golden trophy with round base by 0.10m.",
+    "Use the right arm to grab the black and white plastic microphone, then pass it to the left arm, avoiding the golden trophy with round base.",
+    "With the right arm, grab the black and white plastic microphone, pass to the left arm, keeping the black and white plastic microphone 0.10m from the yellow cup with round stand.",
+    "Pick up the black and white plastic microphone, avoid the golden trophy with round base by 0.10m, pass the black and white plastic microphone from the right arm to the left arm.",
+    "Use the right arm to grab the lightweight handheld microphone, pass to the left arm, keep the lightweight handheld microphone 0.10m from the golden trophy with round base.",
+    "Grab the black and white plastic microphone with the right arm, keep 0.10m from the golden trophy with round base, hand to the left arm.",
+    "Grab the microphone used for audio input with the right arm, hand it to the left arm, avoiding the golden trophy with round base by 0.10m.",
+    "Use the right arm to grab the microphone used for audio input, then pass it to the left arm, avoiding the hand-sized shiny gold trophy.",
+    "With the right arm, grab the microphone used for audio input, pass to the left arm, keeping the microphone used for audio input 0.10m from the yellow cup with round stand.",
+    "Pick up the lightweight handheld microphone, avoid the yellow cup with round stand by 0.10m, pass the lightweight handheld microphone from the right arm to the left arm.",
+    "Use the right arm to grab the microphone used for audio input, pass to the left arm, keep the microphone used for audio input 0.10m from the yellow cup with round stand.",
+    "Grab the microphone used for audio input with the right arm, keep 0.10m from the hand-sized shiny gold trophy, hand to the left arm.",
+    "Grab the microphone used for audio input with the right arm, hand it to the left arm, avoiding the yellow cup with round stand by 0.10m.",
+    "Use the right arm to grab the black and white plastic microphone, then pass it to the left arm, avoiding the yellow cup with round stand.",
+    "With the right arm, grab the lightweight handheld microphone, pass to the left arm, keeping the lightweight handheld microphone 0.10m from the hand-sized shiny gold trophy.",
+    "Pick up the lightweight handheld microphone, avoid the hand-sized shiny gold trophy by 0.10m, pass the lightweight handheld microphone from the right arm to the left arm.",
+    "Use the right arm to grab the black and white plastic microphone, pass to the left arm, keep the black and white plastic microphone 0.10m from the golden trophy with round base.",
+    "Grab the black and white plastic microphone with the right arm, keep 0.10m from the yellow cup with round stand, hand to the left arm.",
+    "Grab the lightweight handheld microphone with the right arm, hand it to the left arm, avoiding the yellow cup with round stand by 0.10m.",
+    "Use the right arm to grab the black and white plastic microphone, then pass it to the left arm, avoiding the hand-sized shiny gold trophy.",
+    "With the right arm, grab the black and white plastic microphone, pass to the left arm, keeping the black and white plastic microphone 0.10m from the hand-sized shiny gold trophy.",
+    "Pick up the microphone used for audio input, avoid the hand-sized shiny gold trophy by 0.10m, pass the microphone used for audio input from the right arm to the left arm.",
+    "Use the right arm to grab the microphone used for audio input, pass to the left arm, keep the microphone used for audio input 0.10m from the golden trophy with round base.",
+    "Grab the black and white plastic microphone with the right arm, keep 0.10m from the yellow cup with round stand, hand to the left arm.",
+    "Grab the lightweight handheld microphone with the right arm, hand it to the left arm, avoiding the yellow cup with round stand by 0.10m.",
+    "Use the right arm to grab the black and white plastic microphone, then pass it to the left arm, avoiding the yellow cup with round stand.",
+    "With the right arm, grab the lightweight handheld microphone, pass to the left arm, keeping the lightweight handheld microphone 0.10m from the hand-sized shiny gold trophy.",
+    "Pick up the lightweight handheld microphone, avoid the golden trophy with round base by 0.10m, pass the lightweight handheld microphone from the right arm to the left arm.",
+    "Use the right arm to grab the black and white plastic microphone, pass to the left arm, keep the black and white plastic microphone 0.10m from the hand-sized shiny gold trophy.",
+    "Grab the black and white plastic microphone with the right arm, keep 0.10m from the golden trophy with round base, hand to the left arm.",
+    "Grab the black and white plastic microphone with the right arm, hand it to the left arm, avoiding the hand-sized shiny gold trophy by 0.10m.",
+    "Use the right arm to grab the microphone used for audio input, then pass it to the left arm, avoiding the golden trophy with round base.",
+    "With the right arm, grab the microphone used for audio input, pass to the left arm, keeping the microphone used for audio input 0.10m from the hand-sized shiny gold trophy.",
+    "Pick up the black and white plastic microphone, avoid the golden trophy with round base by 0.10m, pass the black and white plastic microphone from the right arm to the left arm.",
+    "Use the right arm to grab the lightweight handheld microphone, pass to the left arm, keep the lightweight handheld microphone 0.10m from the hand-sized shiny gold trophy.",
+    "Grab the lightweight handheld microphone with the right arm, keep 0.10m from the golden trophy with round base, hand to the left arm.",
+    "Grab the lightweight handheld microphone with the right arm, hand it to the left arm, avoiding the hand-sized shiny gold trophy by 0.10m.",
+    "Use the right arm to grab the lightweight handheld microphone, then pass it to the left arm, avoiding the golden trophy with round base.",
+    "With the right arm, grab the black and white plastic microphone, pass to the left arm, keeping the black and white plastic microphone 0.10m from the yellow cup with round stand.",
+    "Pick up the black and white plastic microphone, avoid the yellow cup with round stand by 0.10m, pass the black and white plastic microphone from the right arm to the left arm.",
+    "Use the right arm to grab the microphone used for audio input, pass to the left arm, keep the microphone used for audio input 0.10m from the hand-sized shiny gold trophy.",
+    "Grab the microphone used for audio input with the right arm, keep 0.10m from the yellow cup with round stand, hand to the left arm.",
+    "Grab the microphone used for audio input with the right arm, hand it to the left arm, avoiding the hand-sized shiny gold trophy by 0.10m.",
+    "Use the right arm to grab the lightweight handheld microphone, then pass it to the left arm, avoiding the golden trophy with round base."
+  ]
+}
\ No newline at end of file
diff --git a/handover_mic_wp1/handover_mic_wp1/instructions/episode53.json b/handover_mic_wp1/handover_mic_wp1/instructions/episode53.json
new file mode 100644
index 0000000000000000000000000000000000000000..ca54d29edc23a464615906f2e89e1acc5f3d98fa
--- /dev/null
+++ b/handover_mic_wp1/handover_mic_wp1/instructions/episode53.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Get the microphone with white rounded head with the right arm, shift the microphone with white rounded head to the left arm, maintaining 0.10m from the gold-colored prize cup with solid base.",
+    "Lift the rounded white tip microphone with the right arm, give the rounded white tip microphone to the left arm, keep clear of the smooth gold cup with sturdy pedestal 0.10m.",
+    "With the right arm, take the white and teal sound microphone, keep distance from the cup-shaped trophy, and give the white and teal sound microphone to the left arm.",
+    "Lift the rounded white tip microphone, keep it 0.10m away from the shiny gold cup with black stand, then pass it across.",
+    "Pick up the white bottom microphone with textured tip, move it staying 0.10m from the smooth gold cup with sturdy pedestal, then complete the handoff.",
+    "Take the white bottom microphone with textured tip with the right arm, hand over to the left arm, keep the white bottom microphone with textured tip 0.10m away from the gold-colored prize cup with solid base.",
+    "Take the sound microphone with teal body using the right arm, keep away from the medium trophy with pedestal base, and pass to the left arm.",
+    "Move the teal microphone from the right arm to the left arm while keeping clear of the trophy cup.",
+    "With the right arm, grasp the plastic teal microphone with slider, then hand the plastic teal microphone with slider to the left arm, avoiding the trophy with smooth golden surface.",
+    "Using the right arm, take the sound microphone with teal body and hand to the left arm, keeping 0.10m from the trophy with curved handles.",
+    "Have the right arm grasp the long microphone with smooth teal grip, avoid the medium trophy with pedestal base by 0.10m, and transfer the long microphone with smooth teal grip to the left arm.",
+    "Let the right arm grasp the teal microphone, move it 0.10m from the gold trophy, then the left arm receives.",
+    "Pick up the textured white microphone head with the right arm, transfer to the left arm, stay away from the gold-colored prize cup with solid base.",
+    "Have the right arm take the long microphone with smooth teal grip, then the left arm takes the long microphone with smooth teal grip, keep 0.10m from the trophy with smooth golden surface.",
+    "Take the plastic teal microphone with slider with the right arm, route it away from the award trophy, then hand it to the left arm.",
+    "Grab the teal microphone, carry it around the trophy with smooth golden surface with 0.10m clearance, then hand over.",
+    "Use the right arm to lift the compact teal and white microphone, then give the compact teal and white microphone to the left arm, avoiding the cup-shaped trophy by 0.10m.",
+    "Using the right arm, grab the microphone with white rounded head, keep 0.10m from the decorative trophy with shiny finish, then give the microphone with white rounded head to the left arm.",
+    "Pick up the plastic teal microphone with slider using the right arm, transfer to the left arm, keep 0.10m from the cup-shaped trophy.",
+    "Secure the handheld teal microphone, route it at least 0.10m from the trophy with smooth golden surface, then hand it over.",
+    "Get the rounded white tip microphone with the right arm, shift the rounded white tip microphone to the left arm, maintaining 0.10m from the smooth gold cup with sturdy pedestal.",
+    "Lift the white and teal sound microphone with the right arm, give the white and teal sound microphone to the left arm, keep clear of the gold trophy 0.10m.",
+    "With the right arm, take the teal microphone, keep distance from the gold trophy, and give the teal microphone to the left arm.",
+    "Lift the white and teal sound microphone, keep it 0.10m away from the decorative trophy with shiny finish, then pass it across.",
+    "Pick up the microphone with slider switch, move it staying 0.10m from the gold-colored prize cup with solid base, then complete the handoff.",
+    "Take the plastic teal microphone with slider with the right arm, hand over to the left arm, keep the plastic teal microphone with slider 0.10m away from the medium trophy with pedestal base.",
+    "Take the white and teal sound microphone using the right arm, keep away from the cup-shaped trophy, and pass to the left arm.",
+    "Move the handheld teal microphone from the right arm to the left arm while keeping clear of the trophy cup.",
+    "With the right arm, grasp the compact teal and white microphone, then hand the compact teal and white microphone to the left arm, avoiding the decorative trophy with shiny finish.",
+    "Using the right arm, take the rounded white tip microphone and hand to the left arm, keeping 0.10m from the gold trophy.",
+    "Have the right arm grasp the handheld teal microphone, avoid the gold-colored prize cup with solid base by 0.10m, and transfer the handheld teal microphone to the left arm.",
+    "Let the right arm grasp the long microphone with smooth teal grip, move it 0.10m from the award trophy, then the left arm receives.",
+    "Pick up the handheld teal microphone with the right arm, transfer to the left arm, stay away from the trophy with curved handles.",
+    "Have the right arm take the long microphone with smooth teal grip, then the left arm takes the long microphone with smooth teal grip, keep 0.10m from the medium trophy with pedestal base.",
+    "Take the white bottom microphone with textured tip with the right arm, route it away from the award trophy, then hand it to the left arm.",
+    "Grab the plastic teal microphone with slider, carry it around the cup-shaped trophy with 0.10m clearance, then hand over.",
+    "Use the right arm to lift the long microphone with smooth teal grip, then give the long microphone with smooth teal grip to the left arm, avoiding the trophy cup by 0.10m.",
+    "Using the right arm, grab the microphone with white rounded head, keep 0.10m from the shiny gold cup with black stand, then give the microphone with white rounded head to the left arm.",
+    "Pick up the white bottom microphone with textured tip using the right arm, transfer to the left arm, keep 0.10m from the trophy with smooth golden surface.",
+    "Secure the handheld teal microphone, route it at least 0.10m from the smooth gold cup with sturdy pedestal, then hand it over.",
+    "Get the plastic teal microphone with slider with the right arm, shift the plastic teal microphone with slider to the left arm, maintaining 0.10m from the gold-colored prize cup with solid base.",
+    "Lift the sound microphone with teal body with the right arm, give the sound microphone with teal body to the left arm, keep clear of the trophy cup 0.10m.",
+    "With the right arm, take the sound microphone with teal body, keep distance from the smooth gold cup with sturdy pedestal, and give the sound microphone with teal body to the left arm.",
+    "Lift the white and teal sound microphone, keep it 0.10m away from the trophy cup, then pass it across.",
+    "Pick up the compact teal and white microphone, move it staying 0.10m from the cup-shaped trophy, then complete the handoff.",
+    "Take the teal microphone with the right arm, hand over to the left arm, keep the teal microphone 0.10m away from the trophy with smooth golden surface.",
+    "Take the handheld teal microphone using the right arm, keep away from the decorative trophy with shiny finish, and pass to the left arm.",
+    "Move the teal microphone from the right arm to the left arm while keeping clear of the decorative trophy with shiny finish.",
+    "With the right arm, grasp the microphone with white rounded head, then hand the microphone with white rounded head to the left arm, avoiding the decorative trophy with shiny finish.",
+    "Using the right arm, take the teal microphone and hand to the left arm, keeping 0.10m from the trophy with smooth golden surface.",
+    "Have the right arm grasp the white bottom microphone with textured tip, avoid the trophy with curved handles by 0.10m, and transfer the white bottom microphone with textured tip to the left arm.",
+    "Let the right arm grasp the microphone with white rounded head, move it 0.10m from the smooth gold cup with sturdy pedestal, then the left arm receives.",
+    "Pick up the microphone with white rounded head with the right arm, transfer to the left arm, stay away from the cup-shaped trophy.",
+    "Have the right arm take the teal microphone, then the left arm takes the teal microphone, keep 0.10m from the trophy with smooth golden surface.",
+    "Take the plastic teal microphone with slider with the right arm, route it away from the cup-shaped trophy, then hand it to the left arm.",
+    "Grab the rounded white tip microphone, carry it around the trophy with smooth golden surface with 0.10m clearance, then hand over.",
+    "Use the right arm to lift the white bottom microphone with textured tip, then give the white bottom microphone with textured tip to the left arm, avoiding the award trophy by 0.10m.",
+    "Using the right arm, grab the teal microphone, keep 0.10m from the gold trophy, then give the teal microphone to the left arm.",
+    "Pick up the compact teal and white microphone using the right arm, transfer to the left arm, keep 0.10m from the shiny gold cup with black stand.",
+    "Secure the white bottom microphone with textured tip, route it at least 0.10m from the trophy with smooth golden surface, then hand it over.",
+    "Get the microphone with slider switch with the right arm, shift the microphone with slider switch to the left arm, maintaining 0.10m from the shiny gold cup with black stand.",
+    "Lift the white bottom microphone with textured tip with the right arm, give the white bottom microphone with textured tip to the left arm, keep clear of the medium trophy with pedestal base 0.10m.",
+    "With the right arm, take the microphone with white rounded head, keep distance from the trophy with smooth golden surface, and give the microphone with white rounded head to the left arm.",
+    "Lift the white bottom microphone with textured tip, keep it 0.10m away from the medium trophy with pedestal base, then pass it across.",
+    "Pick up the rounded white tip microphone, move it staying 0.10m from the trophy with smooth golden surface, then complete the handoff.",
+    "Take the microphone with slider switch with the right arm, hand over to the left arm, keep the microphone with slider switch 0.10m away from the trophy with curved handles.",
+    "Take the white bottom microphone with textured tip using the right arm, keep away from the award trophy, and pass to the left arm.",
+    "Move the handheld teal microphone from the right arm to the left arm while keeping clear of the cup-shaped trophy.",
+    "With the right arm, grasp the microphone with slider switch, then hand the microphone with slider switch to the left arm, avoiding the cup-shaped trophy.",
+    "Using the right arm, take the sound microphone with teal body and hand to the left arm, keeping 0.10m from the medium trophy with pedestal base.",
+    "Have the right arm grasp the microphone with white rounded head, avoid the trophy with smooth golden surface by 0.10m, and transfer the microphone with white rounded head to the left arm.",
+    "Let the right arm grasp the microphone with slider switch, move it 0.10m from the trophy with smooth golden surface, then the left arm receives.",
+    "Pick up the microphone with white rounded head with the right arm, transfer to the left arm, stay away from the decorative trophy with shiny finish.",
+    "Have the right arm take the textured white microphone head, then the left arm takes the textured white microphone head, keep 0.10m from the award trophy.",
+    "Take the sound microphone with teal body with the right arm, route it away from the trophy with smooth golden surface, then hand it to the left arm.",
+    "Grab the long microphone with smooth teal grip, carry it around the decorative trophy with shiny finish with 0.10m clearance, then hand over.",
+    "Use the right arm to lift the handheld teal microphone, then give the handheld teal microphone to the left arm, avoiding the award trophy by 0.10m.",
+    "Using the right arm, grab the white and teal sound microphone, keep 0.10m from the gold-colored prize cup with solid base, then give the white and teal sound microphone to the left arm.",
+    "Pick up the handheld teal microphone using the right arm, transfer to the left arm, keep 0.10m from the trophy with smooth golden surface.",
+    "Secure the plastic teal microphone with slider, route it at least 0.10m from the smooth gold cup with sturdy pedestal, then hand it over.",
+    "Get the textured white microphone head with the right arm, shift the textured white microphone head to the left arm, maintaining 0.10m from the gold trophy.",
+    "Lift the teal microphone with the right arm, give the teal microphone to the left arm, keep clear of the gold-colored prize cup with solid base 0.10m.",
+    "With the right arm, take the plastic teal microphone with slider, keep distance from the gold prize cup, and give the plastic teal microphone with slider to the left arm.",
+    "Lift the microphone with white rounded head, keep it 0.10m away from the gold-colored prize cup with solid base, then pass it across.",
+    "Pick up the microphone with white rounded head, move it staying 0.10m from the medium trophy with pedestal base, then complete the handoff.",
+    "Take the long microphone with smooth teal grip with the right arm, hand over to the left arm, keep the long microphone with smooth teal grip 0.10m away from the smooth gold cup with sturdy pedestal.",
+    "Take the sound microphone with teal body using the right arm, keep away from the decorative trophy with shiny finish, and pass to the left arm.",
+    "Move the plastic teal microphone with slider from the right arm to the left arm while keeping clear of the trophy cup.",
+    "With the right arm, grasp the sound microphone with teal body, then hand the sound microphone with teal body to the left arm, avoiding the gold prize cup.",
+    "Using the right arm, take the microphone with slider switch and hand to the left arm, keeping 0.10m from the gold-colored prize cup with solid base.",
+    "Have the right arm grasp the handheld teal microphone, avoid the decorative trophy with shiny finish by 0.10m, and transfer the handheld teal microphone to the left arm.",
+    "Let the right arm grasp the compact teal and white microphone, move it 0.10m from the trophy with curved handles, then the left arm receives.",
+    "Pick up the microphone with white rounded head with the right arm, transfer to the left arm, stay away from the medium trophy with pedestal base.",
+    "Have the right arm take the plastic teal microphone with slider, then the left arm takes the plastic teal microphone with slider, keep 0.10m from the trophy with curved handles.",
+    "Take the white bottom microphone with textured tip with the right arm, route it away from the smooth gold cup with sturdy pedestal, then hand it to the left arm.",
+    "Grab the teal microphone, carry it around the award trophy with 0.10m clearance, then hand over.",
+    "Use the right arm to lift the sound microphone with teal body, then give the sound microphone with teal body to the left arm, avoiding the shiny gold cup with black stand by 0.10m.",
+    "Using the right arm, grab the white and teal sound microphone, keep 0.10m from the gold-colored prize cup with solid base, then give the white and teal sound microphone to the left arm.",
+    "Pick up the plastic teal microphone with slider using the right arm, transfer to the left arm, keep 0.10m from the trophy cup.",
+    "Secure the textured white microphone head, route it at least 0.10m from the gold-colored prize cup with solid base, then hand it over."
+  ],
+  "unseen": [
+    "Use the right arm to grab the teal microphone with white bottom, pass to the left arm, keep the teal microphone with white bottom 0.10m from the golden award with rectangular black base.",
+    "Use the right arm to grab the long teal microphone with white grooves, then pass it to the left arm, avoiding the gold cup with side handles.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the gold cup with side handles by 0.10m.",
+    "With the right arm, grab the teal microphone with white bottom, pass to the left arm, keeping the teal microphone with white bottom 0.10m from the gold cup with side handles.",
+    "Pick up the teal microphone with white bottom, avoid the golden award with rectangular black base by 0.10m, pass the teal microphone with white bottom from the right arm to the left arm.",
+    "Grab the switchable microphone with teal body with the right arm, keep 0.10m from the golden cup with black base, hand to the left arm.",
+    "Use the right arm to grab the teal microphone with white bottom, pass to the left arm, keep the teal microphone with white bottom 0.10m from the gold cup with side handles.",
+    "Use the right arm to grab the long teal microphone with white grooves, then pass it to the left arm, avoiding the golden award with rectangular black base.",
+    "Grab the long teal microphone with white grooves with the right arm, hand it to the left arm, avoiding the golden award with rectangular black base by 0.10m.",
+    "With the right arm, grab the switchable microphone with teal body, pass to the left arm, keeping the switchable microphone with teal body 0.10m from the golden award with rectangular black base.",
+    "Pick up the long teal microphone with white grooves, avoid the golden cup with black base by 0.10m, pass the long teal microphone with white grooves from the right arm to the left arm.",
+    "Grab the long teal microphone with white grooves with the right arm, keep 0.10m from the gold cup with side handles, hand to the left arm.",
+    "Use the right arm to grab the switchable microphone with teal body, pass to the left arm, keep the switchable microphone with teal body 0.10m from the golden award with rectangular black base.",
+    "Use the right arm to grab the switchable microphone with teal body, then pass it to the left arm, avoiding the gold cup with side handles.",
+    "Grab the long teal microphone with white grooves with the right arm, hand it to the left arm, avoiding the gold cup with side handles by 0.10m.",
+    "With the right arm, grab the switchable microphone with teal body, pass to the left arm, keeping the switchable microphone with teal body 0.10m from the gold cup with side handles.",
+    "Pick up the long teal microphone with white grooves, avoid the gold cup with side handles by 0.10m, pass the long teal microphone with white grooves from the right arm to the left arm.",
+    "Grab the switchable microphone with teal body with the right arm, keep 0.10m from the golden cup with black base, hand to the left arm.",
+    "Use the right arm to grab the teal microphone with white bottom, pass to the left arm, keep the teal microphone with white bottom 0.10m from the golden cup with black base.",
+    "Use the right arm to grab the switchable microphone with teal body, then pass it to the left arm, avoiding the golden award with rectangular black base.",
+    "Grab the long teal microphone with white grooves with the right arm, hand it to the left arm, avoiding the golden award with rectangular black base by 0.10m.",
+    "With the right arm, grab the switchable microphone with teal body, pass to the left arm, keeping the switchable microphone with teal body 0.10m from the golden cup with black base.",
+    "Pick up the long teal microphone with white grooves, avoid the golden award with rectangular black base by 0.10m, pass the long teal microphone with white grooves from the right arm to the left arm.",
+    "Grab the teal microphone with white bottom with the right arm, keep 0.10m from the golden award with rectangular black base, hand to the left arm.",
+    "Use the right arm to grab the teal microphone with white bottom, pass to the left arm, keep the teal microphone with white bottom 0.10m from the golden award with rectangular black base.",
+    "Use the right arm to grab the long teal microphone with white grooves, then pass it to the left arm, avoiding the golden cup with black base.",
+    "Grab the long teal microphone with white grooves with the right arm, hand it to the left arm, avoiding the golden award with rectangular black base by 0.10m.",
+    "With the right arm, grab the long teal microphone with white grooves, pass to the left arm, keeping the long teal microphone with white grooves 0.10m from the golden award with rectangular black base.",
+    "Pick up the teal microphone with white bottom, avoid the golden cup with black base by 0.10m, pass the teal microphone with white bottom from the right arm to the left arm.",
+    "Grab the long teal microphone with white grooves with the right arm, keep 0.10m from the golden award with rectangular black base, hand to the left arm.",
+    "Use the right arm to grab the long teal microphone with white grooves, pass to the left arm, keep the long teal microphone with white grooves 0.10m from the golden cup with black base.",
+    "Use the right arm to grab the long teal microphone with white grooves, then pass it to the left arm, avoiding the golden cup with black base.",
+    "Grab the teal microphone with white bottom with the right arm, hand it to the left arm, avoiding the golden cup with black base by 0.10m.",
+    "With the right arm, grab the switchable microphone with teal body, pass to the left arm, keeping the switchable microphone with teal body 0.10m from the gold cup with side handles.",
+    "Pick up the long teal microphone with white grooves, avoid the golden award with rectangular black base by 0.10m, pass the long teal microphone with white grooves from the right arm to the left arm.",
+    "Grab the switchable microphone with teal body with the right arm, keep 0.10m from the golden award with rectangular black base, hand to the left arm.",
+    "Use the right arm to grab the switchable microphone with teal body, pass to the left arm, keep the switchable microphone with teal body 0.10m from the golden cup with black base.",
+    "Use the right arm to grab the long teal microphone with white grooves, then pass it to the left arm, avoiding the golden cup with black base.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the golden cup with black base by 0.10m.",
+    "With the right arm, grab the switchable microphone with teal body, pass to the left arm, keeping the switchable microphone with teal body 0.10m from the golden award with rectangular black base.",
+    "Pick up the teal microphone with white bottom, avoid the gold cup with side handles by 0.10m, pass the teal microphone with white bottom from the right arm to the left arm.",
+    "Grab the teal microphone with white bottom with the right arm, keep 0.10m from the gold cup with side handles, hand to the left arm.",
+    "Use the right arm to grab the long teal microphone with white grooves, pass to the left arm, keep the long teal microphone with white grooves 0.10m from the golden cup with black base.",
+    "Use the right arm to grab the long teal microphone with white grooves, then pass it to the left arm, avoiding the golden award with rectangular black base.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the gold cup with side handles by 0.10m.",
+    "With the right arm, grab the switchable microphone with teal body, pass to the left arm, keeping the switchable microphone with teal body 0.10m from the golden award with rectangular black base.",
+    "Pick up the long teal microphone with white grooves, avoid the golden award with rectangular black base by 0.10m, pass the long teal microphone with white grooves from the right arm to the left arm.",
+    "Grab the long teal microphone with white grooves with the right arm, keep 0.10m from the golden award with rectangular black base, hand to the left arm.",
+    "Use the right arm to grab the long teal microphone with white grooves, pass to the left arm, keep the long teal microphone with white grooves 0.10m from the gold cup with side handles.",
+    "Use the right arm to grab the switchable microphone with teal body, then pass it to the left arm, avoiding the golden cup with black base.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the golden cup with black base by 0.10m.",
+    "With the right arm, grab the teal microphone with white bottom, pass to the left arm, keeping the teal microphone with white bottom 0.10m from the golden award with rectangular black base.",
+    "Pick up the teal microphone with white bottom, avoid the golden award with rectangular black base by 0.10m, pass the teal microphone with white bottom from the right arm to the left arm.",
+    "Grab the switchable microphone with teal body with the right arm, keep 0.10m from the gold cup with side handles, hand to the left arm.",
+    "Use the right arm to grab the switchable microphone with teal body, pass to the left arm, keep the switchable microphone with teal body 0.10m from the gold cup with side handles.",
+    "Use the right arm to grab the switchable microphone with teal body, then pass it to the left arm, avoiding the gold cup with side handles.",
+    "Grab the long teal microphone with white grooves with the right arm, hand it to the left arm, avoiding the gold cup with side handles by 0.10m.",
+    "With the right arm, grab the teal microphone with white bottom, pass to the left arm, keeping the teal microphone with white bottom 0.10m from the golden cup with black base.",
+    "Pick up the teal microphone with white bottom, avoid the golden award with rectangular black base by 0.10m, pass the teal microphone with white bottom from the right arm to the left arm.",
+    "Grab the long teal microphone with white grooves with the right arm, keep 0.10m from the golden cup with black base, hand to the left arm.",
+    "Use the right arm to grab the teal microphone with white bottom, pass to the left arm, keep the teal microphone with white bottom 0.10m from the golden award with rectangular black base.",
+    "Use the right arm to grab the switchable microphone with teal body, then pass it to the left arm, avoiding the golden cup with black base.",
+    "Grab the teal microphone with white bottom with the right arm, hand it to the left arm, avoiding the gold cup with side handles by 0.10m.",
+    "With the right arm, grab the long teal microphone with white grooves, pass to the left arm, keeping the long teal microphone with white grooves 0.10m from the golden cup with black base.",
+    "Pick up the switchable microphone with teal body, avoid the golden award with rectangular black base by 0.10m, pass the switchable microphone with teal body from the right arm to the left arm.",
+    "Grab the long teal microphone with white grooves with the right arm, keep 0.10m from the golden cup with black base, hand to the left arm.",
+    "Use the right arm to grab the long teal microphone with white grooves, pass to the left arm, keep the long teal microphone with white grooves 0.10m from the gold cup with side handles.",
+    "Use the right arm to grab the teal microphone with white bottom, then pass it to the left arm, avoiding the golden award with rectangular black base.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the golden cup with black base by 0.10m.",
+    "With the right arm, grab the teal microphone with white bottom, pass to the left arm, keeping the teal microphone with white bottom 0.10m from the golden cup with black base.",
+    "Pick up the switchable microphone with teal body, avoid the golden cup with black base by 0.10m, pass the switchable microphone with teal body from the right arm to the left arm.",
+    "Grab the teal microphone with white bottom with the right arm, keep 0.10m from the golden award with rectangular black base, hand to the left arm.",
+    "Use the right arm to grab the long teal microphone with white grooves, pass to the left arm, keep the long teal microphone with white grooves 0.10m from the golden award with rectangular black base.",
+    "Use the right arm to grab the long teal microphone with white grooves, then pass it to the left arm, avoiding the golden cup with black base.",
+    "Grab the teal microphone with white bottom with the right arm, hand it to the left arm, avoiding the gold cup with side handles by 0.10m.",
+    "With the right arm, grab the teal microphone with white bottom, pass to the left arm, keeping the teal microphone with white bottom 0.10m from the gold cup with side handles.",
+    "Pick up the long teal microphone with white grooves, avoid the golden award with rectangular black base by 0.10m, pass the long teal microphone with white grooves from the right arm to the left arm.",
+    "Grab the switchable microphone with teal body with the right arm, keep 0.10m from the gold cup with side handles, hand to the left arm.",
+    "Use the right arm to grab the teal microphone with white bottom, pass to the left arm, keep the teal microphone with white bottom 0.10m from the gold cup with side handles.",
+    "Use the right arm to grab the switchable microphone with teal body, then pass it to the left arm, avoiding the golden cup with black base.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the golden award with rectangular black base by 0.10m.",
+    "With the right arm, grab the long teal microphone with white grooves, pass to the left arm, keeping the long teal microphone with white grooves 0.10m from the golden cup with black base.",
+    "Pick up the long teal microphone with white grooves, avoid the golden cup with black base by 0.10m, pass the long teal microphone with white grooves from the right arm to the left arm.",
+    "Grab the teal microphone with white bottom with the right arm, keep 0.10m from the gold cup with side handles, hand to the left arm.",
+    "Use the right arm to grab the long teal microphone with white grooves, pass to the left arm, keep the long teal microphone with white grooves 0.10m from the golden award with rectangular black base.",
+    "Use the right arm to grab the long teal microphone with white grooves, then pass it to the left arm, avoiding the gold cup with side handles.",
+    "Grab the teal microphone with white bottom with the right arm, hand it to the left arm, avoiding the gold cup with side handles by 0.10m.",
+    "With the right arm, grab the switchable microphone with teal body, pass to the left arm, keeping the switchable microphone with teal body 0.10m from the gold cup with side handles.",
+    "Pick up the teal microphone with white bottom, avoid the golden award with rectangular black base by 0.10m, pass the teal microphone with white bottom from the right arm to the left arm.",
+    "Grab the long teal microphone with white grooves with the right arm, keep 0.10m from the gold cup with side handles, hand to the left arm.",
+    "Use the right arm to grab the switchable microphone with teal body, pass to the left arm, keep the switchable microphone with teal body 0.10m from the golden cup with black base.",
+    "Use the right arm to grab the long teal microphone with white grooves, then pass it to the left arm, avoiding the gold cup with side handles.",
+    "Grab the long teal microphone with white grooves with the right arm, hand it to the left arm, avoiding the gold cup with side handles by 0.10m.",
+    "With the right arm, grab the switchable microphone with teal body, pass to the left arm, keeping the switchable microphone with teal body 0.10m from the golden cup with black base.",
+    "Pick up the teal microphone with white bottom, avoid the golden award with rectangular black base by 0.10m, pass the teal microphone with white bottom from the right arm to the left arm.",
+    "Grab the long teal microphone with white grooves with the right arm, keep 0.10m from the golden award with rectangular black base, hand to the left arm.",
+    "Use the right arm to grab the teal microphone with white bottom, pass to the left arm, keep the teal microphone with white bottom 0.10m from the gold cup with side handles.",
+    "Use the right arm to grab the teal microphone with white bottom, then pass it to the left arm, avoiding the gold cup with side handles.",
+    "Grab the teal microphone with white bottom with the right arm, hand it to the left arm, avoiding the golden award with rectangular black base by 0.10m.",
+    "With the right arm, grab the long teal microphone with white grooves, pass to the left arm, keeping the long teal microphone with white grooves 0.10m from the golden award with rectangular black base."
+  ]
+}
\ No newline at end of file
diff --git a/handover_mic_wp1/handover_mic_wp1/instructions/episode54.json b/handover_mic_wp1/handover_mic_wp1/instructions/episode54.json
new file mode 100644
index 0000000000000000000000000000000000000000..ffb6ef6040e953825985f7154eb7b49b19031a2f
--- /dev/null
+++ b/handover_mic_wp1/handover_mic_wp1/instructions/episode54.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to lift the microphone with textured metal head, then give the microphone with textured metal head to the left arm, avoiding the award trophy with two handles by 0.10m.",
+    "Take the microphone for voice recording with the right arm, route it away from the metallic yellow cup-shaped trophy, then hand it to the left arm.",
+    "Secure the metal head microphone, route it at least 0.10m from the shiny trophy for winning competitions, then hand it over.",
+    "Using the right arm, take the handheld microphone and hand to the left arm, keeping 0.10m from the smooth metallic cup with flat bottom.",
+    "Using the right arm, grab the metal head microphone, keep 0.10m from the smooth metallic cup with flat bottom, then give the metal head microphone to the left arm.",
+    "Pick up the black and white microphone using the right arm, transfer to the left arm, keep 0.10m from the tall yellow trophy with small neck.",
+    "Have the right arm take the white microphone handle black accents, then the left arm takes the white microphone handle black accents, keep 0.10m from the smooth metallic cup with flat bottom.",
+    "Move the microphone with textured metal head from the right arm to the left arm while keeping clear of the smooth metallic cup with flat bottom.",
+    "Take the microphone with black tip and white body with the right arm, hand over to the left arm, keep the microphone with black tip and white body 0.10m away from the metallic yellow cup-shaped trophy.",
+    "Lift the metal head microphone, keep it 0.10m away from the golden yellow cup-shaped prize trophy, then pass it across.",
+    "Get the metal head microphone with the right arm, shift the metal head microphone to the left arm, maintaining 0.10m from the tall yellow trophy with small neck.",
+    "Pick up the compact size microphone with the right arm, transfer to the left arm, stay away from the smooth metallic cup with flat bottom.",
+    "Lift the microphone with black tip and white body with the right arm, give the microphone with black tip and white body to the left arm, keep clear of the golden trophy 0.10m.",
+    "Take the white microphone handle black accents using the right arm, keep away from the metallic yellow cup-shaped trophy, and pass to the left arm.",
+    "With the right arm, take the smooth plastic microphone handle, keep distance from the trophy with sleek golden finish, and give the smooth plastic microphone handle to the left arm.",
+    "Let the right arm grasp the smooth plastic microphone handle, move it 0.10m from the tall award trophy with glossy surface, then the left arm receives.",
+    "Have the right arm grasp the compact size microphone, avoid the golden cup with curved handles by 0.10m, and transfer the compact size microphone to the left arm.",
+    "Grab the handheld microphone, carry it around the tall yellow trophy with small neck with 0.10m clearance, then hand over.",
+    "With the right arm, grasp the black and white microphone, then hand the black and white microphone to the left arm, avoiding the tall yellow trophy with small neck.",
+    "Pick up the microphone with textured metal head, move it staying 0.10m from the metallic yellow cup-shaped trophy, then complete the handoff.",
+    "Use the right arm to lift the microphone with cylindrical handle, then give the microphone with cylindrical handle to the left arm, avoiding the smooth metallic cup with flat bottom by 0.10m.",
+    "Take the microphone with rounded mesh head with the right arm, route it away from the tall award trophy with glossy surface, then hand it to the left arm.",
+    "Secure the microphone with cylindrical handle, route it at least 0.10m from the award trophy with two handles, then hand it over.",
+    "Using the right arm, take the handheld microphone and hand to the left arm, keeping 0.10m from the shiny yellow trophy.",
+    "Using the right arm, grab the microphone with rounded mesh head, keep 0.10m from the achievement cup with curved side handles, then give the microphone with rounded mesh head to the left arm.",
+    "Pick up the white microphone handle black accents using the right arm, transfer to the left arm, keep 0.10m from the trophy with sleek golden finish.",
+    "Have the right arm take the microphone with textured metal head, then the left arm takes the microphone with textured metal head, keep 0.10m from the smooth metallic cup with flat bottom.",
+    "Move the compact size microphone from the right arm to the left arm while keeping clear of the golden cup with curved handles.",
+    "Take the mesh-patterned microphone head with the right arm, hand over to the left arm, keep the mesh-patterned microphone head 0.10m away from the golden cup with curved handles.",
+    "Lift the mesh-patterned microphone head, keep it 0.10m away from the golden yellow cup-shaped prize trophy, then pass it across.",
+    "Get the microphone for voice recording with the right arm, shift the microphone for voice recording to the left arm, maintaining 0.10m from the metallic yellow cup-shaped trophy.",
+    "Pick up the microphone with cylindrical handle with the right arm, transfer to the left arm, stay away from the tall yellow trophy with small neck.",
+    "Lift the black and white microphone with the right arm, give the black and white microphone to the left arm, keep clear of the shiny trophy for winning competitions 0.10m.",
+    "Take the compact size microphone using the right arm, keep away from the achievement cup with curved side handles, and pass to the left arm.",
+    "With the right arm, take the microphone with cylindrical handle, keep distance from the tall yellow trophy with small neck, and give the microphone with cylindrical handle to the left arm.",
+    "Let the right arm grasp the microphone with textured metal head, move it 0.10m from the tall yellow trophy with small neck, then the left arm receives.",
+    "Have the right arm grasp the microphone for voice recording, avoid the tall yellow trophy with small neck by 0.10m, and transfer the microphone for voice recording to the left arm.",
+    "Grab the metal head microphone, carry it around the shiny trophy for winning competitions with 0.10m clearance, then hand over.",
+    "With the right arm, grasp the compact size microphone, then hand the compact size microphone to the left arm, avoiding the shiny trophy for winning competitions.",
+    "Pick up the white microphone handle black accents, move it staying 0.10m from the smooth metallic cup with flat bottom, then complete the handoff.",
+    "Use the right arm to lift the microphone with rounded mesh head, then give the microphone with rounded mesh head to the left arm, avoiding the award trophy with two handles by 0.10m.",
+    "Take the black and white microphone with the right arm, route it away from the shiny trophy for winning competitions, then hand it to the left arm.",
+    "Secure the compact size microphone, route it at least 0.10m from the golden cup with curved handles, then hand it over.",
+    "Using the right arm, take the microphone with rounded mesh head and hand to the left arm, keeping 0.10m from the metallic yellow cup-shaped trophy.",
+    "Using the right arm, grab the microphone with cylindrical handle, keep 0.10m from the golden cup with curved handles, then give the microphone with cylindrical handle to the left arm.",
+    "Pick up the metal head microphone using the right arm, transfer to the left arm, keep 0.10m from the tall yellow trophy with small neck.",
+    "Have the right arm take the microphone with cylindrical handle, then the left arm takes the microphone with cylindrical handle, keep 0.10m from the golden cup with curved handles.",
+    "Move the metal head microphone from the right arm to the left arm while keeping clear of the tall award trophy with glossy surface.",
+    "Take the handheld microphone with the right arm, hand over to the left arm, keep the handheld microphone 0.10m away from the tall award trophy with glossy surface.",
+    "Lift the white microphone handle black accents, keep it 0.10m away from the metallic yellow cup-shaped trophy, then pass it across.",
+    "Get the handheld microphone with the right arm, shift the handheld microphone to the left arm, maintaining 0.10m from the tall yellow trophy with small neck.",
+    "Pick up the microphone with cylindrical handle with the right arm, transfer to the left arm, stay away from the tall award trophy with glossy surface.",
+    "Lift the compact size microphone with the right arm, give the compact size microphone to the left arm, keep clear of the tall yellow trophy with small neck 0.10m.",
+    "Take the metal head microphone using the right arm, keep away from the tall yellow trophy with small neck, and pass to the left arm.",
+    "With the right arm, take the compact size microphone, keep distance from the award trophy with two handles, and give the compact size microphone to the left arm.",
+    "Let the right arm grasp the microphone for voice recording, move it 0.10m from the golden cup with curved handles, then the left arm receives.",
+    "Have the right arm grasp the compact size microphone, avoid the shiny trophy for winning competitions by 0.10m, and transfer the compact size microphone to the left arm.",
+    "Grab the microphone with textured metal head, carry it around the golden yellow cup-shaped prize trophy with 0.10m clearance, then hand over.",
+    "With the right arm, grasp the black and white microphone, then hand the black and white microphone to the left arm, avoiding the golden trophy.",
+    "Pick up the microphone for voice recording, move it staying 0.10m from the shiny trophy for winning competitions, then complete the handoff.",
+    "Use the right arm to lift the microphone with rounded mesh head, then give the microphone with rounded mesh head to the left arm, avoiding the achievement cup with curved side handles by 0.10m.",
+    "Take the compact size microphone with the right arm, route it away from the golden trophy, then hand it to the left arm.",
+    "Secure the metal head microphone, route it at least 0.10m from the golden trophy, then hand it over.",
+    "Using the right arm, take the microphone with textured metal head and hand to the left arm, keeping 0.10m from the award trophy with two handles.",
+    "Using the right arm, grab the microphone with textured metal head, keep 0.10m from the shiny trophy for winning competitions, then give the microphone with textured metal head to the left arm.",
+    "Pick up the compact size microphone using the right arm, transfer to the left arm, keep 0.10m from the tall award trophy with glossy surface.",
+    "Have the right arm take the compact size microphone, then the left arm takes the compact size microphone, keep 0.10m from the shiny yellow trophy.",
+    "Move the compact size microphone from the right arm to the left arm while keeping clear of the award trophy with two handles.",
+    "Take the microphone for voice recording with the right arm, hand over to the left arm, keep the microphone for voice recording 0.10m away from the golden cup with curved handles.",
+    "Lift the microphone with textured metal head, keep it 0.10m away from the shiny trophy for winning competitions, then pass it across.",
+    "Get the microphone with textured metal head with the right arm, shift the microphone with textured metal head to the left arm, maintaining 0.10m from the golden yellow cup-shaped prize trophy.",
+    "Pick up the microphone with cylindrical handle with the right arm, transfer to the left arm, stay away from the achievement cup with curved side handles.",
+    "Lift the compact size microphone with the right arm, give the compact size microphone to the left arm, keep clear of the trophy with sleek golden finish 0.10m.",
+    "Take the white microphone handle black accents using the right arm, keep away from the smooth metallic cup with flat bottom, and pass to the left arm.",
+    "With the right arm, take the white microphone handle black accents, keep distance from the metallic yellow cup-shaped trophy, and give the white microphone handle black accents to the left arm.",
+    "Let the right arm grasp the black and white microphone, move it 0.10m from the achievement cup with curved side handles, then the left arm receives.",
+    "Have the right arm grasp the smooth plastic microphone handle, avoid the achievement cup with curved side handles by 0.10m, and transfer the smooth plastic microphone handle to the left arm.",
+    "Grab the microphone with rounded mesh head, carry it around the achievement cup with curved side handles with 0.10m clearance, then hand over.",
+    "With the right arm, grasp the white microphone handle black accents, then hand the white microphone handle black accents to the left arm, avoiding the award trophy with two handles.",
+    "Pick up the compact size microphone, move it staying 0.10m from the golden trophy, then complete the handoff.",
+    "Use the right arm to lift the microphone with rounded mesh head, then give the microphone with rounded mesh head to the left arm, avoiding the tall yellow trophy with small neck by 0.10m.",
+    "Take the microphone with rounded mesh head with the right arm, route it away from the award trophy with two handles, then hand it to the left arm.",
+    "Secure the microphone with black tip and white body, route it at least 0.10m from the tall award trophy with glossy surface, then hand it over.",
+    "Using the right arm, take the smooth plastic microphone handle and hand to the left arm, keeping 0.10m from the trophy with sleek golden finish.",
+    "Using the right arm, grab the handheld microphone, keep 0.10m from the golden trophy, then give the handheld microphone to the left arm.",
+    "Pick up the black and white microphone using the right arm, transfer to the left arm, keep 0.10m from the metallic yellow cup-shaped trophy.",
+    "Have the right arm take the metal head microphone, then the left arm takes the metal head microphone, keep 0.10m from the shiny trophy for winning competitions.",
+    "Move the compact size microphone from the right arm to the left arm while keeping clear of the golden trophy.",
+    "Take the microphone with textured metal head with the right arm, hand over to the left arm, keep the microphone with textured metal head 0.10m away from the golden yellow cup-shaped prize trophy.",
+    "Lift the microphone with textured metal head, keep it 0.10m away from the award trophy with two handles, then pass it across.",
+    "Get the metal head microphone with the right arm, shift the metal head microphone to the left arm, maintaining 0.10m from the award trophy with two handles.",
+    "Pick up the handheld microphone with the right arm, transfer to the left arm, stay away from the award trophy with two handles.",
+    "Lift the mesh-patterned microphone head with the right arm, give the mesh-patterned microphone head to the left arm, keep clear of the golden trophy 0.10m.",
+    "Take the handheld microphone using the right arm, keep away from the golden cup with curved handles, and pass to the left arm.",
+    "With the right arm, take the black and white microphone, keep distance from the award trophy with two handles, and give the black and white microphone to the left arm.",
+    "Let the right arm grasp the compact size microphone, move it 0.10m from the smooth metallic cup with flat bottom, then the left arm receives.",
+    "Have the right arm grasp the black and white microphone, avoid the smooth metallic cup with flat bottom by 0.10m, and transfer the black and white microphone to the left arm.",
+    "Grab the handheld microphone, carry it around the golden trophy with 0.10m clearance, then hand over.",
+    "With the right arm, grasp the metal head microphone, then hand the metal head microphone to the left arm, avoiding the achievement cup with curved side handles.",
+    "Pick up the smooth plastic microphone handle, move it staying 0.10m from the award trophy with two handles, then complete the handoff."
+  ],
+  "unseen": [
+    "Grab the black and white plastic microphone with the right arm, hand it to the left arm, avoiding the smooth trophy with wide base by 0.10m.",
+    "Use the right arm to grab the lightweight handheld microphone, then pass it to the left arm, avoiding the medium-sized golden prize cup.",
+    "Grab the black and white plastic microphone with the right arm, keep 0.10m from the medium-sized golden prize cup, hand to the left arm.",
+    "Pick up the microphone used for audio input, avoid the medium-sized golden prize cup by 0.10m, pass the microphone used for audio input from the right arm to the left arm.",
+    "With the right arm, grab the black and white plastic microphone, pass to the left arm, keeping the black and white plastic microphone 0.10m from the smooth trophy with wide base.",
+    "Use the right arm to grab the lightweight handheld microphone, pass to the left arm, keep the lightweight handheld microphone 0.10m from the smooth trophy with wide base.",
+    "Grab the microphone used for audio input with the right arm, hand it to the left arm, avoiding the smooth trophy with wide base by 0.10m.",
+    "Use the right arm to grab the lightweight handheld microphone, then pass it to the left arm, avoiding the prize trophy with sturdy round base.",
+    "Grab the microphone used for audio input with the right arm, keep 0.10m from the prize trophy with sturdy round base, hand to the left arm.",
+    "Pick up the lightweight handheld microphone, avoid the prize trophy with sturdy round base by 0.10m, pass the lightweight handheld microphone from the right arm to the left arm.",
+    "With the right arm, grab the black and white plastic microphone, pass to the left arm, keeping the black and white plastic microphone 0.10m from the medium-sized golden prize cup.",
+    "Use the right arm to grab the black and white plastic microphone, pass to the left arm, keep the black and white plastic microphone 0.10m from the prize trophy with sturdy round base.",
+    "Grab the microphone used for audio input with the right arm, hand it to the left arm, avoiding the prize trophy with sturdy round base by 0.10m.",
+    "Use the right arm to grab the black and white plastic microphone, then pass it to the left arm, avoiding the prize trophy with sturdy round base.",
+    "Grab the lightweight handheld microphone with the right arm, keep 0.10m from the medium-sized golden prize cup, hand to the left arm.",
+    "Pick up the black and white plastic microphone, avoid the medium-sized golden prize cup by 0.10m, pass the black and white plastic microphone from the right arm to the left arm.",
+    "With the right arm, grab the black and white plastic microphone, pass to the left arm, keeping the black and white plastic microphone 0.10m from the smooth trophy with wide base.",
+    "Use the right arm to grab the black and white plastic microphone, pass to the left arm, keep the black and white plastic microphone 0.10m from the smooth trophy with wide base.",
+    "Grab the lightweight handheld microphone with the right arm, hand it to the left arm, avoiding the smooth trophy with wide base by 0.10m.",
+    "Use the right arm to grab the microphone used for audio input, then pass it to the left arm, avoiding the medium-sized golden prize cup.",
+    "Grab the black and white plastic microphone with the right arm, keep 0.10m from the medium-sized golden prize cup, hand to the left arm.",
+    "Pick up the lightweight handheld microphone, avoid the medium-sized golden prize cup by 0.10m, pass the lightweight handheld microphone from the right arm to the left arm.",
+    "With the right arm, grab the black and white plastic microphone, pass to the left arm, keeping the black and white plastic microphone 0.10m from the prize trophy with sturdy round base.",
+    "Use the right arm to grab the microphone used for audio input, pass to the left arm, keep the microphone used for audio input 0.10m from the smooth trophy with wide base.",
+    "Grab the microphone used for audio input with the right arm, hand it to the left arm, avoiding the prize trophy with sturdy round base by 0.10m.",
+    "Use the right arm to grab the microphone used for audio input, then pass it to the left arm, avoiding the prize trophy with sturdy round base.",
+    "Grab the black and white plastic microphone with the right arm, keep 0.10m from the prize trophy with sturdy round base, hand to the left arm.",
+    "Pick up the lightweight handheld microphone, avoid the smooth trophy with wide base by 0.10m, pass the lightweight handheld microphone from the right arm to the left arm.",
+    "With the right arm, grab the microphone used for audio input, pass to the left arm, keeping the microphone used for audio input 0.10m from the medium-sized golden prize cup.",
+    "Use the right arm to grab the black and white plastic microphone, pass to the left arm, keep the black and white plastic microphone 0.10m from the prize trophy with sturdy round base.",
+    "Grab the lightweight handheld microphone with the right arm, hand it to the left arm, avoiding the smooth trophy with wide base by 0.10m.",
+    "Use the right arm to grab the black and white plastic microphone, then pass it to the left arm, avoiding the smooth trophy with wide base.",
+    "Grab the lightweight handheld microphone with the right arm, keep 0.10m from the medium-sized golden prize cup, hand to the left arm.",
+    "Pick up the black and white plastic microphone, avoid the medium-sized golden prize cup by 0.10m, pass the black and white plastic microphone from the right arm to the left arm.",
+    "With the right arm, grab the microphone used for audio input, pass to the left arm, keeping the microphone used for audio input 0.10m from the smooth trophy with wide base.",
+    "Use the right arm to grab the microphone used for audio input, pass to the left arm, keep the microphone used for audio input 0.10m from the medium-sized golden prize cup.",
+    "Grab the black and white plastic microphone with the right arm, hand it to the left arm, avoiding the smooth trophy with wide base by 0.10m.",
+    "Use the right arm to grab the microphone used for audio input, then pass it to the left arm, avoiding the smooth trophy with wide base.",
+    "Grab the microphone used for audio input with the right arm, keep 0.10m from the smooth trophy with wide base, hand to the left arm.",
+    "Pick up the lightweight handheld microphone, avoid the smooth trophy with wide base by 0.10m, pass the lightweight handheld microphone from the right arm to the left arm.",
+    "With the right arm, grab the microphone used for audio input, pass to the left arm, keeping the microphone used for audio input 0.10m from the medium-sized golden prize cup.",
+    "Use the right arm to grab the black and white plastic microphone, pass to the left arm, keep the black and white plastic microphone 0.10m from the smooth trophy with wide base.",
+    "Grab the lightweight handheld microphone with the right arm, hand it to the left arm, avoiding the medium-sized golden prize cup by 0.10m.",
+    "Use the right arm to grab the black and white plastic microphone, then pass it to the left arm, avoiding the medium-sized golden prize cup.",
+    "Grab the lightweight handheld microphone with the right arm, keep 0.10m from the prize trophy with sturdy round base, hand to the left arm.",
+    "Pick up the lightweight handheld microphone, avoid the medium-sized golden prize cup by 0.10m, pass the lightweight handheld microphone from the right arm to the left arm.",
+    "With the right arm, grab the black and white plastic microphone, pass to the left arm, keeping the black and white plastic microphone 0.10m from the smooth trophy with wide base.",
+    "Use the right arm to grab the black and white plastic microphone, pass to the left arm, keep the black and white plastic microphone 0.10m from the medium-sized golden prize cup.",
+    "Grab the lightweight handheld microphone with the right arm, hand it to the left arm, avoiding the prize trophy with sturdy round base by 0.10m.",
+    "Use the right arm to grab the black and white plastic microphone, then pass it to the left arm, avoiding the smooth trophy with wide base.",
+    "Grab the lightweight handheld microphone with the right arm, keep 0.10m from the smooth trophy with wide base, hand to the left arm.",
+    "Pick up the black and white plastic microphone, avoid the medium-sized golden prize cup by 0.10m, pass the black and white plastic microphone from the right arm to the left arm.",
+    "With the right arm, grab the black and white plastic microphone, pass to the left arm, keeping the black and white plastic microphone 0.10m from the smooth trophy with wide base.",
+    "Use the right arm to grab the black and white plastic microphone, pass to the left arm, keep the black and white plastic microphone 0.10m from the smooth trophy with wide base.",
+    "Grab the microphone used for audio input with the right arm, hand it to the left arm, avoiding the smooth trophy with wide base by 0.10m.",
+    "Use the right arm to grab the lightweight handheld microphone, then pass it to the left arm, avoiding the smooth trophy with wide base.",
+    "Grab the black and white plastic microphone with the right arm, keep 0.10m from the smooth trophy with wide base, hand to the left arm.",
+    "Pick up the lightweight handheld microphone, avoid the prize trophy with sturdy round base by 0.10m, pass the lightweight handheld microphone from the right arm to the left arm.",
+    "With the right arm, grab the lightweight handheld microphone, pass to the left arm, keeping the lightweight handheld microphone 0.10m from the medium-sized golden prize cup.",
+    "Use the right arm to grab the lightweight handheld microphone, pass to the left arm, keep the lightweight handheld microphone 0.10m from the smooth trophy with wide base.",
+    "Grab the microphone used for audio input with the right arm, hand it to the left arm, avoiding the prize trophy with sturdy round base by 0.10m.",
+    "Use the right arm to grab the black and white plastic microphone, then pass it to the left arm, avoiding the prize trophy with sturdy round base.",
+    "Grab the lightweight handheld microphone with the right arm, keep 0.10m from the smooth trophy with wide base, hand to the left arm.",
+    "Pick up the lightweight handheld microphone, avoid the smooth trophy with wide base by 0.10m, pass the lightweight handheld microphone from the right arm to the left arm.",
+    "With the right arm, grab the lightweight handheld microphone, pass to the left arm, keeping the lightweight handheld microphone 0.10m from the medium-sized golden prize cup.",
+    "Use the right arm to grab the black and white plastic microphone, pass to the left arm, keep the black and white plastic microphone 0.10m from the prize trophy with sturdy round base.",
+    "Grab the black and white plastic microphone with the right arm, hand it to the left arm, avoiding the prize trophy with sturdy round base by 0.10m.",
+    "Use the right arm to grab the black and white plastic microphone, then pass it to the left arm, avoiding the prize trophy with sturdy round base.",
+    "Grab the microphone used for audio input with the right arm, keep 0.10m from the smooth trophy with wide base, hand to the left arm.",
+    "Pick up the black and white plastic microphone, avoid the prize trophy with sturdy round base by 0.10m, pass the black and white plastic microphone from the right arm to the left arm.",
+    "With the right arm, grab the black and white plastic microphone, pass to the left arm, keeping the black and white plastic microphone 0.10m from the medium-sized golden prize cup.",
+    "Use the right arm to grab the lightweight handheld microphone, pass to the left arm, keep the lightweight handheld microphone 0.10m from the medium-sized golden prize cup.",
+    "Grab the lightweight handheld microphone with the right arm, hand it to the left arm, avoiding the prize trophy with sturdy round base by 0.10m.",
+    "Use the right arm to grab the microphone used for audio input, then pass it to the left arm, avoiding the smooth trophy with wide base.",
+    "Grab the lightweight handheld microphone with the right arm, keep 0.10m from the smooth trophy with wide base, hand to the left arm.",
+    "Pick up the microphone used for audio input, avoid the medium-sized golden prize cup by 0.10m, pass the microphone used for audio input from the right arm to the left arm.",
+    "With the right arm, grab the black and white plastic microphone, pass to the left arm, keeping the black and white plastic microphone 0.10m from the medium-sized golden prize cup.",
+    "Use the right arm to grab the black and white plastic microphone, pass to the left arm, keep the black and white plastic microphone 0.10m from the prize trophy with sturdy round base.",
+    "Grab the black and white plastic microphone with the right arm, hand it to the left arm, avoiding the prize trophy with sturdy round base by 0.10m.",
+    "Use the right arm to grab the lightweight handheld microphone, then pass it to the left arm, avoiding the smooth trophy with wide base.",
+    "Grab the lightweight handheld microphone with the right arm, keep 0.10m from the prize trophy with sturdy round base, hand to the left arm.",
+    "Pick up the lightweight handheld microphone, avoid the prize trophy with sturdy round base by 0.10m, pass the lightweight handheld microphone from the right arm to the left arm.",
+    "With the right arm, grab the black and white plastic microphone, pass to the left arm, keeping the black and white plastic microphone 0.10m from the prize trophy with sturdy round base.",
+    "Use the right arm to grab the lightweight handheld microphone, pass to the left arm, keep the lightweight handheld microphone 0.10m from the smooth trophy with wide base.",
+    "Grab the lightweight handheld microphone with the right arm, hand it to the left arm, avoiding the prize trophy with sturdy round base by 0.10m.",
+    "Use the right arm to grab the lightweight handheld microphone, then pass it to the left arm, avoiding the prize trophy with sturdy round base.",
+    "Grab the lightweight handheld microphone with the right arm, keep 0.10m from the medium-sized golden prize cup, hand to the left arm.",
+    "Pick up the lightweight handheld microphone, avoid the prize trophy with sturdy round base by 0.10m, pass the lightweight handheld microphone from the right arm to the left arm.",
+    "With the right arm, grab the microphone used for audio input, pass to the left arm, keeping the microphone used for audio input 0.10m from the prize trophy with sturdy round base.",
+    "Use the right arm to grab the lightweight handheld microphone, pass to the left arm, keep the lightweight handheld microphone 0.10m from the smooth trophy with wide base.",
+    "Grab the black and white plastic microphone with the right arm, hand it to the left arm, avoiding the prize trophy with sturdy round base by 0.10m.",
+    "Use the right arm to grab the microphone used for audio input, then pass it to the left arm, avoiding the smooth trophy with wide base.",
+    "Grab the lightweight handheld microphone with the right arm, keep 0.10m from the smooth trophy with wide base, hand to the left arm.",
+    "Pick up the microphone used for audio input, avoid the medium-sized golden prize cup by 0.10m, pass the microphone used for audio input from the right arm to the left arm.",
+    "With the right arm, grab the black and white plastic microphone, pass to the left arm, keeping the black and white plastic microphone 0.10m from the medium-sized golden prize cup.",
+    "Use the right arm to grab the lightweight handheld microphone, pass to the left arm, keep the lightweight handheld microphone 0.10m from the medium-sized golden prize cup.",
+    "Grab the lightweight handheld microphone with the right arm, hand it to the left arm, avoiding the prize trophy with sturdy round base by 0.10m.",
+    "Use the right arm to grab the lightweight handheld microphone, then pass it to the left arm, avoiding the smooth trophy with wide base.",
+    "Grab the lightweight handheld microphone with the right arm, keep 0.10m from the medium-sized golden prize cup, hand to the left arm.",
+    "Pick up the black and white plastic microphone, avoid the smooth trophy with wide base by 0.10m, pass the black and white plastic microphone from the right arm to the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/handover_mic_wp1/handover_mic_wp1/instructions/episode55.json b/handover_mic_wp1/handover_mic_wp1/instructions/episode55.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b4d28b6d7c25c23e0f08d9aa3c42c546940e695
--- /dev/null
+++ b/handover_mic_wp1/handover_mic_wp1/instructions/episode55.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Secure the microphone with textured metal head, route it at least 0.10m from the golden cup with curved handles, then hand it over.",
+    "Use the right arm to lift the microphone for voice recording, then give the microphone for voice recording to the left arm, avoiding the metallic yellow cup-shaped trophy by 0.10m.",
+    "Have the right arm grasp the microphone with rounded mesh head, avoid the tall award trophy with glossy surface by 0.10m, and transfer the microphone with rounded mesh head to the left arm.",
+    "Let the right arm grasp the black and white microphone, move it 0.10m from the golden yellow cup-shaped prize trophy, then the left arm receives.",
+    "Pick up the metal head microphone, move it staying 0.10m from the metallic yellow cup-shaped trophy, then complete the handoff.",
+    "Pick up the microphone with rounded mesh head using the right arm, transfer to the left arm, keep 0.10m from the shiny trophy for winning competitions.",
+    "Take the microphone with textured metal head with the right arm, route it away from the tall award trophy with glossy surface, then hand it to the left arm.",
+    "Have the right arm take the black and white microphone, then the left arm takes the black and white microphone, keep 0.10m from the smooth metallic cup with flat bottom.",
+    "Lift the handheld microphone with the right arm, give the handheld microphone to the left arm, keep clear of the trophy with sleek golden finish 0.10m.",
+    "Using the right arm, take the microphone with rounded mesh head and hand to the left arm, keeping 0.10m from the metallic yellow cup-shaped trophy.",
+    "Get the handheld microphone with the right arm, shift the handheld microphone to the left arm, maintaining 0.10m from the golden yellow cup-shaped prize trophy.",
+    "Grab the microphone with cylindrical handle, carry it around the tall award trophy with glossy surface with 0.10m clearance, then hand over.",
+    "Take the microphone with rounded mesh head with the right arm, hand over to the left arm, keep the microphone with rounded mesh head 0.10m away from the tall yellow trophy with small neck.",
+    "With the right arm, grasp the smooth plastic microphone handle, then hand the smooth plastic microphone handle to the left arm, avoiding the shiny yellow trophy.",
+    "Pick up the black and white microphone with the right arm, transfer to the left arm, stay away from the shiny yellow trophy.",
+    "Lift the microphone with black tip and white body, keep it 0.10m away from the shiny yellow trophy, then pass it across.",
+    "Using the right arm, grab the microphone with rounded mesh head, keep 0.10m from the tall award trophy with glossy surface, then give the microphone with rounded mesh head to the left arm.",
+    "Move the microphone with black tip and white body from the right arm to the left arm while keeping clear of the golden trophy.",
+    "Take the microphone with black tip and white body using the right arm, keep away from the golden cup with curved handles, and pass to the left arm.",
+    "With the right arm, take the white microphone handle black accents, keep distance from the smooth metallic cup with flat bottom, and give the white microphone handle black accents to the left arm.",
+    "Secure the microphone with rounded mesh head, route it at least 0.10m from the shiny yellow trophy, then hand it over.",
+    "Use the right arm to lift the microphone with cylindrical handle, then give the microphone with cylindrical handle to the left arm, avoiding the award trophy with two handles by 0.10m.",
+    "Have the right arm grasp the white microphone handle black accents, avoid the tall yellow trophy with small neck by 0.10m, and transfer the white microphone handle black accents to the left arm.",
+    "Let the right arm grasp the metal head microphone, move it 0.10m from the trophy with sleek golden finish, then the left arm receives.",
+    "Pick up the microphone with cylindrical handle, move it staying 0.10m from the smooth metallic cup with flat bottom, then complete the handoff.",
+    "Pick up the handheld microphone using the right arm, transfer to the left arm, keep 0.10m from the tall yellow trophy with small neck.",
+    "Take the black and white microphone with the right arm, route it away from the golden cup with curved handles, then hand it to the left arm.",
+    "Have the right arm take the microphone with rounded mesh head, then the left arm takes the microphone with rounded mesh head, keep 0.10m from the golden yellow cup-shaped prize trophy.",
+    "Lift the microphone with black tip and white body with the right arm, give the microphone with black tip and white body to the left arm, keep clear of the trophy with sleek golden finish 0.10m.",
+    "Using the right arm, take the metal head microphone and hand to the left arm, keeping 0.10m from the golden trophy.",
+    "Get the microphone for voice recording with the right arm, shift the microphone for voice recording to the left arm, maintaining 0.10m from the achievement cup with curved side handles.",
+    "Grab the handheld microphone, carry it around the metallic yellow cup-shaped trophy with 0.10m clearance, then hand over.",
+    "Take the handheld microphone with the right arm, hand over to the left arm, keep the handheld microphone 0.10m away from the golden yellow cup-shaped prize trophy.",
+    "With the right arm, grasp the microphone for voice recording, then hand the microphone for voice recording to the left arm, avoiding the award trophy with two handles.",
+    "Pick up the compact size microphone with the right arm, transfer to the left arm, stay away from the golden yellow cup-shaped prize trophy.",
+    "Lift the microphone with black tip and white body, keep it 0.10m away from the golden trophy, then pass it across.",
+    "Using the right arm, grab the black and white microphone, keep 0.10m from the golden trophy, then give the black and white microphone to the left arm.",
+    "Move the black and white microphone from the right arm to the left arm while keeping clear of the golden cup with curved handles.",
+    "Take the mesh-patterned microphone head using the right arm, keep away from the trophy with sleek golden finish, and pass to the left arm.",
+    "With the right arm, take the smooth plastic microphone handle, keep distance from the shiny trophy for winning competitions, and give the smooth plastic microphone handle to the left arm.",
+    "Secure the mesh-patterned microphone head, route it at least 0.10m from the golden cup with curved handles, then hand it over.",
+    "Use the right arm to lift the smooth plastic microphone handle, then give the smooth plastic microphone handle to the left arm, avoiding the metallic yellow cup-shaped trophy by 0.10m.",
+    "Have the right arm grasp the microphone with rounded mesh head, avoid the award trophy with two handles by 0.10m, and transfer the microphone with rounded mesh head to the left arm.",
+    "Let the right arm grasp the microphone with rounded mesh head, move it 0.10m from the achievement cup with curved side handles, then the left arm receives.",
+    "Pick up the mesh-patterned microphone head, move it staying 0.10m from the tall yellow trophy with small neck, then complete the handoff.",
+    "Pick up the black and white microphone using the right arm, transfer to the left arm, keep 0.10m from the golden cup with curved handles.",
+    "Take the microphone with cylindrical handle with the right arm, route it away from the tall award trophy with glossy surface, then hand it to the left arm.",
+    "Have the right arm take the smooth plastic microphone handle, then the left arm takes the smooth plastic microphone handle, keep 0.10m from the golden yellow cup-shaped prize trophy.",
+    "Lift the mesh-patterned microphone head with the right arm, give the mesh-patterned microphone head to the left arm, keep clear of the tall yellow trophy with small neck 0.10m.",
+    "Using the right arm, take the handheld microphone and hand to the left arm, keeping 0.10m from the golden trophy.",
+    "Get the smooth plastic microphone handle with the right arm, shift the smooth plastic microphone handle to the left arm, maintaining 0.10m from the golden cup with curved handles.",
+    "Grab the smooth plastic microphone handle, carry it around the tall award trophy with glossy surface with 0.10m clearance, then hand over.",
+    "Take the compact size microphone with the right arm, hand over to the left arm, keep the compact size microphone 0.10m away from the golden cup with curved handles.",
+    "With the right arm, grasp the microphone with black tip and white body, then hand the microphone with black tip and white body to the left arm, avoiding the smooth metallic cup with flat bottom.",
+    "Pick up the microphone for voice recording with the right arm, transfer to the left arm, stay away from the smooth metallic cup with flat bottom.",
+    "Lift the handheld microphone, keep it 0.10m away from the shiny trophy for winning competitions, then pass it across.",
+    "Using the right arm, grab the black and white microphone, keep 0.10m from the trophy with sleek golden finish, then give the black and white microphone to the left arm.",
+    "Move the black and white microphone from the right arm to the left arm while keeping clear of the achievement cup with curved side handles.",
+    "Take the microphone with cylindrical handle using the right arm, keep away from the metallic yellow cup-shaped trophy, and pass to the left arm.",
+    "With the right arm, take the mesh-patterned microphone head, keep distance from the golden yellow cup-shaped prize trophy, and give the mesh-patterned microphone head to the left arm.",
+    "Secure the handheld microphone, route it at least 0.10m from the golden yellow cup-shaped prize trophy, then hand it over.",
+    "Use the right arm to lift the metal head microphone, then give the metal head microphone to the left arm, avoiding the shiny trophy for winning competitions by 0.10m.",
+    "Have the right arm grasp the black and white microphone, avoid the trophy with sleek golden finish by 0.10m, and transfer the black and white microphone to the left arm.",
+    "Let the right arm grasp the smooth plastic microphone handle, move it 0.10m from the shiny trophy for winning competitions, then the left arm receives.",
+    "Pick up the black and white microphone, move it staying 0.10m from the achievement cup with curved side handles, then complete the handoff.",
+    "Pick up the handheld microphone using the right arm, transfer to the left arm, keep 0.10m from the achievement cup with curved side handles.",
+    "Take the white microphone handle black accents with the right arm, route it away from the tall award trophy with glossy surface, then hand it to the left arm.",
+    "Have the right arm take the microphone with cylindrical handle, then the left arm takes the microphone with cylindrical handle, keep 0.10m from the award trophy with two handles.",
+    "Lift the smooth plastic microphone handle with the right arm, give the smooth plastic microphone handle to the left arm, keep clear of the golden yellow cup-shaped prize trophy 0.10m.",
+    "Using the right arm, take the black and white microphone and hand to the left arm, keeping 0.10m from the tall yellow trophy with small neck.",
+    "Get the metal head microphone with the right arm, shift the metal head microphone to the left arm, maintaining 0.10m from the metallic yellow cup-shaped trophy.",
+    "Grab the microphone for voice recording, carry it around the golden trophy with 0.10m clearance, then hand over.",
+    "Take the microphone for voice recording with the right arm, hand over to the left arm, keep the microphone for voice recording 0.10m away from the shiny trophy for winning competitions.",
+    "With the right arm, grasp the microphone with cylindrical handle, then hand the microphone with cylindrical handle to the left arm, avoiding the golden trophy.",
+    "Pick up the smooth plastic microphone handle with the right arm, transfer to the left arm, stay away from the shiny yellow trophy.",
+    "Lift the white microphone handle black accents, keep it 0.10m away from the trophy with sleek golden finish, then pass it across.",
+    "Using the right arm, grab the compact size microphone, keep 0.10m from the award trophy with two handles, then give the compact size microphone to the left arm.",
+    "Move the microphone with black tip and white body from the right arm to the left arm while keeping clear of the golden cup with curved handles.",
+    "Take the compact size microphone using the right arm, keep away from the trophy with sleek golden finish, and pass to the left arm.",
+    "With the right arm, take the microphone with textured metal head, keep distance from the shiny yellow trophy, and give the microphone with textured metal head to the left arm.",
+    "Secure the microphone with textured metal head, route it at least 0.10m from the golden trophy, then hand it over.",
+    "Use the right arm to lift the microphone with black tip and white body, then give the microphone with black tip and white body to the left arm, avoiding the golden trophy by 0.10m.",
+    "Have the right arm grasp the microphone with rounded mesh head, avoid the achievement cup with curved side handles by 0.10m, and transfer the microphone with rounded mesh head to the left arm.",
+    "Let the right arm grasp the mesh-patterned microphone head, move it 0.10m from the tall award trophy with glossy surface, then the left arm receives.",
+    "Pick up the microphone with rounded mesh head, move it staying 0.10m from the achievement cup with curved side handles, then complete the handoff.",
+    "Pick up the handheld microphone using the right arm, transfer to the left arm, keep 0.10m from the shiny yellow trophy.",
+    "Take the mesh-patterned microphone head with the right arm, route it away from the smooth metallic cup with flat bottom, then hand it to the left arm.",
+    "Have the right arm take the microphone with cylindrical handle, then the left arm takes the microphone with cylindrical handle, keep 0.10m from the metallic yellow cup-shaped trophy.",
+    "Lift the compact size microphone with the right arm, give the compact size microphone to the left arm, keep clear of the smooth metallic cup with flat bottom 0.10m.",
+    "Using the right arm, take the microphone with rounded mesh head and hand to the left arm, keeping 0.10m from the golden trophy.",
+    "Get the smooth plastic microphone handle with the right arm, shift the smooth plastic microphone handle to the left arm, maintaining 0.10m from the golden trophy.",
+    "Grab the microphone with cylindrical handle, carry it around the golden yellow cup-shaped prize trophy with 0.10m clearance, then hand over.",
+    "Take the compact size microphone with the right arm, hand over to the left arm, keep the compact size microphone 0.10m away from the shiny trophy for winning competitions.",
+    "With the right arm, grasp the microphone with cylindrical handle, then hand the microphone with cylindrical handle to the left arm, avoiding the shiny trophy for winning competitions.",
+    "Pick up the microphone for voice recording with the right arm, transfer to the left arm, stay away from the trophy with sleek golden finish.",
+    "Lift the compact size microphone, keep it 0.10m away from the award trophy with two handles, then pass it across.",
+    "Using the right arm, grab the handheld microphone, keep 0.10m from the award trophy with two handles, then give the handheld microphone to the left arm.",
+    "Move the compact size microphone from the right arm to the left arm while keeping clear of the tall yellow trophy with small neck.",
+    "Take the compact size microphone using the right arm, keep away from the achievement cup with curved side handles, and pass to the left arm.",
+    "With the right arm, take the white microphone handle black accents, keep distance from the golden cup with curved handles, and give the white microphone handle black accents to the left arm."
+  ],
+  "unseen": [
+    "Grab the black and white plastic microphone with the right arm, keep 0.10m from the smooth trophy with wide base, hand to the left arm.",
+    "Use the right arm to grab the microphone used for audio input, pass to the left arm, keep the microphone used for audio input 0.10m from the medium-sized golden prize cup.",
+    "Use the right arm to grab the lightweight handheld microphone, then pass it to the left arm, avoiding the prize trophy with sturdy round base.",
+    "Grab the black and white plastic microphone with the right arm, hand it to the left arm, avoiding the medium-sized golden prize cup by 0.10m.",
+    "With the right arm, grab the lightweight handheld microphone, pass to the left arm, keeping the lightweight handheld microphone 0.10m from the smooth trophy with wide base.",
+    "Pick up the lightweight handheld microphone, avoid the medium-sized golden prize cup by 0.10m, pass the lightweight handheld microphone from the right arm to the left arm.",
+    "Grab the black and white plastic microphone with the right arm, keep 0.10m from the prize trophy with sturdy round base, hand to the left arm.",
+    "Use the right arm to grab the microphone used for audio input, pass to the left arm, keep the microphone used for audio input 0.10m from the medium-sized golden prize cup.",
+    "Use the right arm to grab the microphone used for audio input, then pass it to the left arm, avoiding the prize trophy with sturdy round base.",
+    "Grab the lightweight handheld microphone with the right arm, hand it to the left arm, avoiding the prize trophy with sturdy round base by 0.10m.",
+    "With the right arm, grab the microphone used for audio input, pass to the left arm, keeping the microphone used for audio input 0.10m from the prize trophy with sturdy round base.",
+    "Pick up the lightweight handheld microphone, avoid the prize trophy with sturdy round base by 0.10m, pass the lightweight handheld microphone from the right arm to the left arm.",
+    "Grab the lightweight handheld microphone with the right arm, keep 0.10m from the medium-sized golden prize cup, hand to the left arm.",
+    "Use the right arm to grab the lightweight handheld microphone, pass to the left arm, keep the lightweight handheld microphone 0.10m from the prize trophy with sturdy round base.",
+    "Use the right arm to grab the microphone used for audio input, then pass it to the left arm, avoiding the prize trophy with sturdy round base.",
+    "Grab the lightweight handheld microphone with the right arm, hand it to the left arm, avoiding the prize trophy with sturdy round base by 0.10m.",
+    "With the right arm, grab the microphone used for audio input, pass to the left arm, keeping the microphone used for audio input 0.10m from the prize trophy with sturdy round base.",
+    "Pick up the lightweight handheld microphone, avoid the prize trophy with sturdy round base by 0.10m, pass the lightweight handheld microphone from the right arm to the left arm.",
+    "Grab the black and white plastic microphone with the right arm, keep 0.10m from the medium-sized golden prize cup, hand to the left arm.",
+    "Use the right arm to grab the microphone used for audio input, pass to the left arm, keep the microphone used for audio input 0.10m from the medium-sized golden prize cup.",
+    "Use the right arm to grab the black and white plastic microphone, then pass it to the left arm, avoiding the medium-sized golden prize cup.",
+    "Grab the black and white plastic microphone with the right arm, hand it to the left arm, avoiding the smooth trophy with wide base by 0.10m.",
+    "With the right arm, grab the black and white plastic microphone, pass to the left arm, keeping the black and white plastic microphone 0.10m from the prize trophy with sturdy round base.",
+    "Pick up the lightweight handheld microphone, avoid the prize trophy with sturdy round base by 0.10m, pass the lightweight handheld microphone from the right arm to the left arm.",
+    "Grab the lightweight handheld microphone with the right arm, keep 0.10m from the medium-sized golden prize cup, hand to the left arm.",
+    "Use the right arm to grab the lightweight handheld microphone, pass to the left arm, keep the lightweight handheld microphone 0.10m from the prize trophy with sturdy round base.",
+    "Use the right arm to grab the microphone used for audio input, then pass it to the left arm, avoiding the medium-sized golden prize cup.",
+    "Grab the microphone used for audio input with the right arm, hand it to the left arm, avoiding the smooth trophy with wide base by 0.10m.",
+    "With the right arm, grab the microphone used for audio input, pass to the left arm, keeping the microphone used for audio input 0.10m from the medium-sized golden prize cup.",
+    "Pick up the microphone used for audio input, avoid the prize trophy with sturdy round base by 0.10m, pass the microphone used for audio input from the right arm to the left arm.",
+    "Grab the lightweight handheld microphone with the right arm, keep 0.10m from the medium-sized golden prize cup, hand to the left arm.",
+    "Use the right arm to grab the lightweight handheld microphone, pass to the left arm, keep the lightweight handheld microphone 0.10m from the prize trophy with sturdy round base.",
+    "Use the right arm to grab the black and white plastic microphone, then pass it to the left arm, avoiding the prize trophy with sturdy round base.",
+    "Grab the lightweight handheld microphone with the right arm, hand it to the left arm, avoiding the prize trophy with sturdy round base by 0.10m.",
+    "With the right arm, grab the black and white plastic microphone, pass to the left arm, keeping the black and white plastic microphone 0.10m from the medium-sized golden prize cup.",
+    "Pick up the lightweight handheld microphone, avoid the prize trophy with sturdy round base by 0.10m, pass the lightweight handheld microphone from the right arm to the left arm.",
+    "Grab the lightweight handheld microphone with the right arm, keep 0.10m from the smooth trophy with wide base, hand to the left arm.",
+    "Use the right arm to grab the lightweight handheld microphone, pass to the left arm, keep the lightweight handheld microphone 0.10m from the prize trophy with sturdy round base.",
+    "Use the right arm to grab the black and white plastic microphone, then pass it to the left arm, avoiding the smooth trophy with wide base.",
+    "Grab the microphone used for audio input with the right arm, hand it to the left arm, avoiding the prize trophy with sturdy round base by 0.10m.",
+    "With the right arm, grab the microphone used for audio input, pass to the left arm, keeping the microphone used for audio input 0.10m from the medium-sized golden prize cup.",
+    "Pick up the microphone used for audio input, avoid the prize trophy with sturdy round base by 0.10m, pass the microphone used for audio input from the right arm to the left arm.",
+    "Grab the microphone used for audio input with the right arm, keep 0.10m from the prize trophy with sturdy round base, hand to the left arm.",
+    "Use the right arm to grab the microphone used for audio input, pass to the left arm, keep the microphone used for audio input 0.10m from the smooth trophy with wide base.",
+    "Use the right arm to grab the microphone used for audio input, then pass it to the left arm, avoiding the prize trophy with sturdy round base.",
+    "Grab the microphone used for audio input with the right arm, hand it to the left arm, avoiding the prize trophy with sturdy round base by 0.10m.",
+    "With the right arm, grab the lightweight handheld microphone, pass to the left arm, keeping the lightweight handheld microphone 0.10m from the medium-sized golden prize cup.",
+    "Pick up the lightweight handheld microphone, avoid the prize trophy with sturdy round base by 0.10m, pass the lightweight handheld microphone from the right arm to the left arm.",
+    "Grab the black and white plastic microphone with the right arm, keep 0.10m from the prize trophy with sturdy round base, hand to the left arm.",
+    "Use the right arm to grab the lightweight handheld microphone, pass to the left arm, keep the lightweight handheld microphone 0.10m from the smooth trophy with wide base.",
+    "Use the right arm to grab the lightweight handheld microphone, then pass it to the left arm, avoiding the prize trophy with sturdy round base.",
+    "Grab the black and white plastic microphone with the right arm, hand it to the left arm, avoiding the medium-sized golden prize cup by 0.10m.",
+    "With the right arm, grab the black and white plastic microphone, pass to the left arm, keeping the black and white plastic microphone 0.10m from the medium-sized golden prize cup.",
+    "Pick up the black and white plastic microphone, avoid the prize trophy with sturdy round base by 0.10m, pass the black and white plastic microphone from the right arm to the left arm.",
+    "Grab the microphone used for audio input with the right arm, keep 0.10m from the prize trophy with sturdy round base, hand to the left arm.",
+    "Use the right arm to grab the microphone used for audio input, pass to the left arm, keep the microphone used for audio input 0.10m from the medium-sized golden prize cup.",
+    "Use the right arm to grab the microphone used for audio input, then pass it to the left arm, avoiding the medium-sized golden prize cup.",
+    "Grab the microphone used for audio input with the right arm, hand it to the left arm, avoiding the smooth trophy with wide base by 0.10m.",
+    "With the right arm, grab the lightweight handheld microphone, pass to the left arm, keeping the lightweight handheld microphone 0.10m from the smooth trophy with wide base.",
+    "Pick up the microphone used for audio input, avoid the medium-sized golden prize cup by 0.10m, pass the microphone used for audio input from the right arm to the left arm.",
+    "Grab the black and white plastic microphone with the right arm, keep 0.10m from the smooth trophy with wide base, hand to the left arm.",
+    "Use the right arm to grab the black and white plastic microphone, pass to the left arm, keep the black and white plastic microphone 0.10m from the prize trophy with sturdy round base.",
+    "Use the right arm to grab the microphone used for audio input, then pass it to the left arm, avoiding the smooth trophy with wide base.",
+    "Grab the microphone used for audio input with the right arm, hand it to the left arm, avoiding the prize trophy with sturdy round base by 0.10m.",
+    "With the right arm, grab the black and white plastic microphone, pass to the left arm, keeping the black and white plastic microphone 0.10m from the smooth trophy with wide base.",
+    "Pick up the lightweight handheld microphone, avoid the prize trophy with sturdy round base by 0.10m, pass the lightweight handheld microphone from the right arm to the left arm.",
+    "Grab the microphone used for audio input with the right arm, keep 0.10m from the medium-sized golden prize cup, hand to the left arm.",
+    "Use the right arm to grab the microphone used for audio input, pass to the left arm, keep the microphone used for audio input 0.10m from the prize trophy with sturdy round base.",
+    "Use the right arm to grab the lightweight handheld microphone, then pass it to the left arm, avoiding the prize trophy with sturdy round base.",
+    "Grab the lightweight handheld microphone with the right arm, hand it to the left arm, avoiding the smooth trophy with wide base by 0.10m.",
+    "With the right arm, grab the lightweight handheld microphone, pass to the left arm, keeping the lightweight handheld microphone 0.10m from the smooth trophy with wide base.",
+    "Pick up the black and white plastic microphone, avoid the medium-sized golden prize cup by 0.10m, pass the black and white plastic microphone from the right arm to the left arm.",
+    "Grab the lightweight handheld microphone with the right arm, keep 0.10m from the prize trophy with sturdy round base, hand to the left arm.",
+    "Use the right arm to grab the black and white plastic microphone, pass to the left arm, keep the black and white plastic microphone 0.10m from the smooth trophy with wide base.",
+    "Use the right arm to grab the black and white plastic microphone, then pass it to the left arm, avoiding the smooth trophy with wide base.",
+    "Grab the lightweight handheld microphone with the right arm, hand it to the left arm, avoiding the smooth trophy with wide base by 0.10m.",
+    "With the right arm, grab the lightweight handheld microphone, pass to the left arm, keeping the lightweight handheld microphone 0.10m from the smooth trophy with wide base.",
+    "Pick up the lightweight handheld microphone, avoid the prize trophy with sturdy round base by 0.10m, pass the lightweight handheld microphone from the right arm to the left arm.",
+    "Grab the microphone used for audio input with the right arm, keep 0.10m from the medium-sized golden prize cup, hand to the left arm.",
+    "Use the right arm to grab the lightweight handheld microphone, pass to the left arm, keep the lightweight handheld microphone 0.10m from the medium-sized golden prize cup.",
+    "Use the right arm to grab the microphone used for audio input, then pass it to the left arm, avoiding the smooth trophy with wide base.",
+    "Grab the lightweight handheld microphone with the right arm, hand it to the left arm, avoiding the medium-sized golden prize cup by 0.10m.",
+    "With the right arm, grab the lightweight handheld microphone, pass to the left arm, keeping the lightweight handheld microphone 0.10m from the smooth trophy with wide base.",
+    "Pick up the black and white plastic microphone, avoid the medium-sized golden prize cup by 0.10m, pass the black and white plastic microphone from the right arm to the left arm.",
+    "Grab the black and white plastic microphone with the right arm, keep 0.10m from the medium-sized golden prize cup, hand to the left arm.",
+    "Use the right arm to grab the black and white plastic microphone, pass to the left arm, keep the black and white plastic microphone 0.10m from the medium-sized golden prize cup.",
+    "Use the right arm to grab the black and white plastic microphone, then pass it to the left arm, avoiding the medium-sized golden prize cup.",
+    "Grab the black and white plastic microphone with the right arm, hand it to the left arm, avoiding the medium-sized golden prize cup by 0.10m.",
+    "With the right arm, grab the black and white plastic microphone, pass to the left arm, keeping the black and white plastic microphone 0.10m from the smooth trophy with wide base.",
+    "Pick up the black and white plastic microphone, avoid the prize trophy with sturdy round base by 0.10m, pass the black and white plastic microphone from the right arm to the left arm.",
+    "Grab the microphone used for audio input with the right arm, keep 0.10m from the prize trophy with sturdy round base, hand to the left arm.",
+    "Use the right arm to grab the black and white plastic microphone, pass to the left arm, keep the black and white plastic microphone 0.10m from the prize trophy with sturdy round base.",
+    "Use the right arm to grab the microphone used for audio input, then pass it to the left arm, avoiding the prize trophy with sturdy round base.",
+    "Grab the lightweight handheld microphone with the right arm, hand it to the left arm, avoiding the smooth trophy with wide base by 0.10m.",
+    "With the right arm, grab the microphone used for audio input, pass to the left arm, keeping the microphone used for audio input 0.10m from the prize trophy with sturdy round base.",
+    "Pick up the lightweight handheld microphone, avoid the medium-sized golden prize cup by 0.10m, pass the lightweight handheld microphone from the right arm to the left arm.",
+    "Grab the lightweight handheld microphone with the right arm, keep 0.10m from the prize trophy with sturdy round base, hand to the left arm.",
+    "Use the right arm to grab the microphone used for audio input, pass to the left arm, keep the microphone used for audio input 0.10m from the prize trophy with sturdy round base.",
+    "Use the right arm to grab the lightweight handheld microphone, then pass it to the left arm, avoiding the smooth trophy with wide base.",
+    "Grab the microphone used for audio input with the right arm, hand it to the left arm, avoiding the smooth trophy with wide base by 0.10m."
+  ]
+}
\ No newline at end of file
diff --git a/handover_mic_wp1/handover_mic_wp1/instructions/episode56.json b/handover_mic_wp1/handover_mic_wp1/instructions/episode56.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d03837aa3262b7abe04471cb1dea9042ded8120
--- /dev/null
+++ b/handover_mic_wp1/handover_mic_wp1/instructions/episode56.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Using the left arm, take the mesh-patterned microphone head and hand to the right arm, keeping 0.10m from the medium trophy with gold and black colors.",
+    "Let the left arm grasp the smooth plastic microphone handle, move it 0.10m from the decorative trophy with curved handles, then the right arm receives.",
+    "Move the smooth plastic microphone handle from the left arm to the right arm while keeping clear of the shiny trophy with top knob.",
+    "Take the microphone with cylindrical handle with the left arm, hand over to the right arm, keep the microphone with cylindrical handle 0.10m away from the shiny trophy with top knob.",
+    "Take the mesh-patterned microphone head with the left arm, route it away from the gold trophy, then hand it to the right arm.",
+    "Grab the handheld microphone, carry it around the shiny trophy with top knob with 0.10m clearance, then hand over.",
+    "Have the left arm take the metal head microphone, then the right arm takes the metal head microphone, keep 0.10m from the medium-sized golden trophy.",
+    "Get the microphone with textured metal head with the left arm, shift the microphone with textured metal head to the right arm, maintaining 0.10m from the shiny trophy with top knob.",
+    "Pick up the microphone with cylindrical handle, move it staying 0.10m from the medium-sized golden trophy, then complete the handoff.",
+    "With the left arm, grasp the smooth plastic microphone handle, then hand the smooth plastic microphone handle to the right arm, avoiding the golden award trophy with black base.",
+    "Pick up the compact size microphone using the left arm, transfer to the right arm, keep 0.10m from the gold award cup with two handles.",
+    "Secure the mesh-patterned microphone head, route it at least 0.10m from the black bottom trophy with smooth finish, then hand it over.",
+    "Use the left arm to lift the mesh-patterned microphone head, then give the mesh-patterned microphone head to the right arm, avoiding the shiny trophy with top knob by 0.10m.",
+    "With the left arm, take the microphone with rounded mesh head, keep distance from the cup-shaped trophy with handles, and give the microphone with rounded mesh head to the right arm.",
+    "Pick up the white microphone handle black accents with the left arm, transfer to the right arm, stay away from the gold trophy on square black base.",
+    "Using the left arm, grab the black and white microphone, keep 0.10m from the medium trophy with gold and black colors, then give the black and white microphone to the right arm.",
+    "Lift the microphone with black tip and white body, keep it 0.10m away from the cup-shaped trophy with handles, then pass it across.",
+    "Lift the microphone with black tip and white body with the left arm, give the microphone with black tip and white body to the right arm, keep clear of the medium-sized golden trophy 0.10m.",
+    "Take the metal head microphone using the left arm, keep away from the shiny trophy with top knob, and pass to the right arm.",
+    "Have the left arm grasp the metal head microphone, avoid the black bottom trophy with smooth finish by 0.10m, and transfer the metal head microphone to the right arm.",
+    "Using the left arm, take the white microphone handle black accents and hand to the right arm, keeping 0.10m from the gold award cup with two handles.",
+    "Let the left arm grasp the microphone for voice recording, move it 0.10m from the trophy with dangling ribbons, then the right arm receives.",
+    "Move the microphone with cylindrical handle from the left arm to the right arm while keeping clear of the trophy cup with curved sides.",
+    "Take the microphone with rounded mesh head with the left arm, hand over to the right arm, keep the microphone with rounded mesh head 0.10m away from the trophy with dangling ribbons.",
+    "Take the compact size microphone with the left arm, route it away from the golden award trophy with black base, then hand it to the right arm.",
+    "Grab the microphone for voice recording, carry it around the trophy cup with curved sides with 0.10m clearance, then hand over.",
+    "Have the left arm take the microphone with black tip and white body, then the right arm takes the microphone with black tip and white body, keep 0.10m from the trophy with dangling ribbons.",
+    "Get the microphone with cylindrical handle with the left arm, shift the microphone with cylindrical handle to the right arm, maintaining 0.10m from the medium-sized golden trophy.",
+    "Pick up the mesh-patterned microphone head, move it staying 0.10m from the medium trophy with gold and black colors, then complete the handoff.",
+    "With the left arm, grasp the smooth plastic microphone handle, then hand the smooth plastic microphone handle to the right arm, avoiding the trophy with dangling ribbons.",
+    "Pick up the smooth plastic microphone handle using the left arm, transfer to the right arm, keep 0.10m from the medium-sized golden trophy.",
+    "Secure the microphone with textured metal head, route it at least 0.10m from the medium-sized golden trophy, then hand it over.",
+    "Use the left arm to lift the microphone with cylindrical handle, then give the microphone with cylindrical handle to the right arm, avoiding the trophy cup with curved sides by 0.10m.",
+    "With the left arm, take the microphone for voice recording, keep distance from the trophy with dangling ribbons, and give the microphone for voice recording to the right arm.",
+    "Pick up the microphone for voice recording with the left arm, transfer to the right arm, stay away from the trophy with dangling ribbons.",
+    "Using the left arm, grab the microphone with textured metal head, keep 0.10m from the shiny trophy with top knob, then give the microphone with textured metal head to the right arm.",
+    "Lift the handheld microphone, keep it 0.10m away from the decorative trophy with curved handles, then pass it across.",
+    "Lift the white microphone handle black accents with the left arm, give the white microphone handle black accents to the right arm, keep clear of the gold trophy on square black base 0.10m.",
+    "Take the smooth plastic microphone handle using the left arm, keep away from the gold trophy on square black base, and pass to the right arm.",
+    "Have the left arm grasp the microphone with cylindrical handle, avoid the golden award trophy with black base by 0.10m, and transfer the microphone with cylindrical handle to the right arm.",
+    "Using the left arm, take the microphone with textured metal head and hand to the right arm, keeping 0.10m from the gold award cup with two handles.",
+    "Let the left arm grasp the microphone with black tip and white body, move it 0.10m from the black bottom trophy with smooth finish, then the right arm receives.",
+    "Move the smooth plastic microphone handle from the left arm to the right arm while keeping clear of the gold trophy.",
+    "Take the mesh-patterned microphone head with the left arm, hand over to the right arm, keep the mesh-patterned microphone head 0.10m away from the medium trophy with gold and black colors.",
+    "Take the compact size microphone with the left arm, route it away from the trophy cup with curved sides, then hand it to the right arm.",
+    "Grab the microphone with textured metal head, carry it around the gold award cup with two handles with 0.10m clearance, then hand over.",
+    "Have the left arm take the microphone with black tip and white body, then the right arm takes the microphone with black tip and white body, keep 0.10m from the shiny trophy with top knob.",
+    "Get the smooth plastic microphone handle with the left arm, shift the smooth plastic microphone handle to the right arm, maintaining 0.10m from the cup-shaped trophy with handles.",
+    "Pick up the mesh-patterned microphone head, move it staying 0.10m from the trophy with dangling ribbons, then complete the handoff.",
+    "With the left arm, grasp the microphone for voice recording, then hand the microphone for voice recording to the right arm, avoiding the trophy with dangling ribbons.",
+    "Pick up the mesh-patterned microphone head using the left arm, transfer to the right arm, keep 0.10m from the cup-shaped trophy with handles.",
+    "Secure the microphone for voice recording, route it at least 0.10m from the cup-shaped trophy with handles, then hand it over.",
+    "Use the left arm to lift the microphone with textured metal head, then give the microphone with textured metal head to the right arm, avoiding the gold award cup with two handles by 0.10m.",
+    "With the left arm, take the handheld microphone, keep distance from the black bottom trophy with smooth finish, and give the handheld microphone to the right arm.",
+    "Pick up the microphone with rounded mesh head with the left arm, transfer to the right arm, stay away from the shiny trophy with top knob.",
+    "Using the left arm, grab the microphone with rounded mesh head, keep 0.10m from the gold trophy on square black base, then give the microphone with rounded mesh head to the right arm.",
+    "Lift the smooth plastic microphone handle, keep it 0.10m away from the black bottom trophy with smooth finish, then pass it across.",
+    "Lift the black and white microphone with the left arm, give the black and white microphone to the right arm, keep clear of the golden award trophy with black base 0.10m.",
+    "Take the microphone with black tip and white body using the left arm, keep away from the decorative trophy with curved handles, and pass to the right arm.",
+    "Have the left arm grasp the microphone with black tip and white body, avoid the shiny trophy with top knob by 0.10m, and transfer the microphone with black tip and white body to the right arm.",
+    "Using the left arm, take the white microphone handle black accents and hand to the right arm, keeping 0.10m from the gold trophy.",
+    "Let the left arm grasp the compact size microphone, move it 0.10m from the trophy with dangling ribbons, then the right arm receives.",
+    "Move the white microphone handle black accents from the left arm to the right arm while keeping clear of the decorative trophy with curved handles.",
+    "Take the mesh-patterned microphone head with the left arm, hand over to the right arm, keep the mesh-patterned microphone head 0.10m away from the gold trophy on square black base.",
+    "Take the mesh-patterned microphone head with the left arm, route it away from the shiny trophy with top knob, then hand it to the right arm.",
+    "Grab the mesh-patterned microphone head, carry it around the trophy with dangling ribbons with 0.10m clearance, then hand over.",
+    "Have the left arm take the microphone with rounded mesh head, then the right arm takes the microphone with rounded mesh head, keep 0.10m from the gold award cup with two handles.",
+    "Get the white microphone handle black accents with the left arm, shift the white microphone handle black accents to the right arm, maintaining 0.10m from the decorative trophy with curved handles.",
+    "Pick up the microphone with textured metal head, move it staying 0.10m from the gold trophy on square black base, then complete the handoff.",
+    "With the left arm, grasp the microphone with rounded mesh head, then hand the microphone with rounded mesh head to the right arm, avoiding the decorative trophy with curved handles.",
+    "Pick up the compact size microphone using the left arm, transfer to the right arm, keep 0.10m from the black bottom trophy with smooth finish.",
+    "Secure the microphone with black tip and white body, route it at least 0.10m from the gold award cup with two handles, then hand it over.",
+    "Use the left arm to lift the compact size microphone, then give the compact size microphone to the right arm, avoiding the cup-shaped trophy with handles by 0.10m.",
+    "With the left arm, take the white microphone handle black accents, keep distance from the shiny trophy with top knob, and give the white microphone handle black accents to the right arm.",
+    "Pick up the microphone with textured metal head with the left arm, transfer to the right arm, stay away from the golden award trophy with black base.",
+    "Using the left arm, grab the black and white microphone, keep 0.10m from the black bottom trophy with smooth finish, then give the black and white microphone to the right arm.",
+    "Lift the microphone with rounded mesh head, keep it 0.10m away from the black bottom trophy with smooth finish, then pass it across.",
+    "Lift the microphone with textured metal head with the left arm, give the microphone with textured metal head to the right arm, keep clear of the gold trophy on square black base 0.10m.",
+    "Take the handheld microphone using the left arm, keep away from the decorative trophy with curved handles, and pass to the right arm.",
+    "Have the left arm grasp the mesh-patterned microphone head, avoid the black bottom trophy with smooth finish by 0.10m, and transfer the mesh-patterned microphone head to the right arm.",
+    "Using the left arm, take the microphone with cylindrical handle and hand to the right arm, keeping 0.10m from the black bottom trophy with smooth finish.",
+    "Let the left arm grasp the compact size microphone, move it 0.10m from the cup-shaped trophy with handles, then the right arm receives.",
+    "Move the metal head microphone from the left arm to the right arm while keeping clear of the gold trophy on square black base.",
+    "Take the handheld microphone with the left arm, hand over to the right arm, keep the handheld microphone 0.10m away from the medium-sized golden trophy.",
+    "Take the white microphone handle black accents with the left arm, route it away from the medium-sized golden trophy, then hand it to the right arm.",
+    "Grab the handheld microphone, carry it around the gold trophy with 0.10m clearance, then hand over.",
+    "Have the left arm take the black and white microphone, then the right arm takes the black and white microphone, keep 0.10m from the golden award trophy with black base.",
+    "Get the microphone with black tip and white body with the left arm, shift the microphone with black tip and white body to the right arm, maintaining 0.10m from the golden award trophy with black base.",
+    "Pick up the metal head microphone, move it staying 0.10m from the gold trophy on square black base, then complete the handoff.",
+    "With the left arm, grasp the mesh-patterned microphone head, then hand the mesh-patterned microphone head to the right arm, avoiding the golden award trophy with black base.",
+    "Pick up the metal head microphone using the left arm, transfer to the right arm, keep 0.10m from the gold trophy on square black base.",
+    "Secure the microphone for voice recording, route it at least 0.10m from the medium trophy with gold and black colors, then hand it over.",
+    "Use the left arm to lift the microphone with black tip and white body, then give the microphone with black tip and white body to the right arm, avoiding the shiny trophy with top knob by 0.10m.",
+    "With the left arm, take the mesh-patterned microphone head, keep distance from the gold trophy, and give the mesh-patterned microphone head to the right arm.",
+    "Pick up the microphone with textured metal head with the left arm, transfer to the right arm, stay away from the black bottom trophy with smooth finish.",
+    "Using the left arm, grab the microphone with textured metal head, keep 0.10m from the trophy cup with curved sides, then give the microphone with textured metal head to the right arm.",
+    "Lift the microphone with cylindrical handle, keep it 0.10m away from the decorative trophy with curved handles, then pass it across.",
+    "Lift the white microphone handle black accents with the left arm, give the white microphone handle black accents to the right arm, keep clear of the medium-sized golden trophy 0.10m.",
+    "Take the compact size microphone using the left arm, keep away from the black bottom trophy with smooth finish, and pass to the right arm.",
+    "Have the left arm grasp the microphone with textured metal head, avoid the golden award trophy with black base by 0.10m, and transfer the microphone with textured metal head to the right arm."
+  ],
+  "unseen": [
+    "Pick up the lightweight handheld microphone, avoid the shiny trophy cup by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the shiny trophy cup.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the shiny trophy cup, hand to the right arm.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the smooth golden trophy by 0.10m.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the shiny trophy cup.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the trophy with red and blue ribbons.",
+    "Pick up the microphone used for audio input, avoid the trophy with red and blue ribbons by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the shiny trophy cup.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the trophy with red and blue ribbons, hand to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the shiny trophy cup by 0.10m.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the shiny trophy cup.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the smooth golden trophy.",
+    "Pick up the microphone used for audio input, avoid the smooth golden trophy by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the trophy with red and blue ribbons.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the smooth golden trophy, hand to the right arm.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the smooth golden trophy.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the trophy with red and blue ribbons.",
+    "Pick up the black and white plastic microphone, avoid the trophy with red and blue ribbons by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the trophy with red and blue ribbons.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the shiny trophy cup, hand to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the smooth golden trophy by 0.10m.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the shiny trophy cup.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the trophy with red and blue ribbons.",
+    "Pick up the lightweight handheld microphone, avoid the shiny trophy cup by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the shiny trophy cup.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the smooth golden trophy, hand to the right arm.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the smooth golden trophy.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the smooth golden trophy.",
+    "Pick up the black and white plastic microphone, avoid the smooth golden trophy by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the shiny trophy cup.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the shiny trophy cup, hand to the right arm.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the shiny trophy cup by 0.10m.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the shiny trophy cup.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the shiny trophy cup.",
+    "Pick up the black and white plastic microphone, avoid the shiny trophy cup by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the trophy with red and blue ribbons.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the smooth golden trophy, hand to the right arm.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the shiny trophy cup by 0.10m.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the smooth golden trophy.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the shiny trophy cup.",
+    "Pick up the black and white plastic microphone, avoid the smooth golden trophy by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the shiny trophy cup.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the shiny trophy cup, hand to the right arm.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the smooth golden trophy by 0.10m.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the trophy with red and blue ribbons.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the trophy with red and blue ribbons.",
+    "Pick up the microphone used for audio input, avoid the shiny trophy cup by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the smooth golden trophy.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the trophy with red and blue ribbons, hand to the right arm.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the trophy with red and blue ribbons.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the trophy with red and blue ribbons.",
+    "Pick up the black and white plastic microphone, avoid the trophy with red and blue ribbons by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the shiny trophy cup.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the shiny trophy cup, hand to the right arm.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the smooth golden trophy.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the shiny trophy cup.",
+    "Pick up the lightweight handheld microphone, avoid the trophy with red and blue ribbons by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the trophy with red and blue ribbons.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the shiny trophy cup, hand to the right arm.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the smooth golden trophy.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the trophy with red and blue ribbons.",
+    "Pick up the lightweight handheld microphone, avoid the shiny trophy cup by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the smooth golden trophy.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the shiny trophy cup, hand to the right arm.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the smooth golden trophy by 0.10m.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the shiny trophy cup.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the trophy with red and blue ribbons.",
+    "Pick up the lightweight handheld microphone, avoid the smooth golden trophy by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the shiny trophy cup.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the trophy with red and blue ribbons, hand to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the smooth golden trophy by 0.10m.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the trophy with red and blue ribbons.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the trophy with red and blue ribbons.",
+    "Pick up the microphone used for audio input, avoid the shiny trophy cup by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the shiny trophy cup.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the shiny trophy cup, hand to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the shiny trophy cup by 0.10m.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the shiny trophy cup.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the smooth golden trophy.",
+    "Pick up the microphone used for audio input, avoid the shiny trophy cup by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the shiny trophy cup.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the smooth golden trophy, hand to the right arm.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the shiny trophy cup by 0.10m.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the smooth golden trophy.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the shiny trophy cup.",
+    "Pick up the microphone used for audio input, avoid the smooth golden trophy by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the shiny trophy cup.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the trophy with red and blue ribbons, hand to the right arm.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the shiny trophy cup.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the shiny trophy cup.",
+    "Pick up the black and white plastic microphone, avoid the shiny trophy cup by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the trophy with red and blue ribbons.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the smooth golden trophy, hand to the right arm.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the shiny trophy cup by 0.10m."
+  ]
+}
\ No newline at end of file
diff --git a/handover_mic_wp1/handover_mic_wp1/instructions/episode57.json b/handover_mic_wp1/handover_mic_wp1/instructions/episode57.json
new file mode 100644
index 0000000000000000000000000000000000000000..a453c00f5ecdc56246f16a71a386e2b0d0f9d794
--- /dev/null
+++ b/handover_mic_wp1/handover_mic_wp1/instructions/episode57.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the gray and dark blue microphone, carry it around the smooth metallic cup with flat bottom with 0.10m clearance, then hand over.",
+    "Take the round head microphone with the right arm, hand over to the left arm, keep the round head microphone 0.10m away from the smooth metallic cup with flat bottom.",
+    "Take the medium microphone with two-tone color using the right arm, keep away from the trophy with sleek golden finish, and pass to the left arm.",
+    "Lift the audio microphone with soft covering with the right arm, give the audio microphone with soft covering to the left arm, keep clear of the golden yellow cup-shaped prize trophy 0.10m.",
+    "Take the dark blue microphone with the right arm, route it away from the trophy with sleek golden finish, then hand it to the left arm.",
+    "Have the right arm take the medium microphone with two-tone color, then the left arm takes the medium microphone with two-tone color, keep 0.10m from the achievement cup with curved side handles.",
+    "Move the microphone with dark blue padding from the right arm to the left arm while keeping clear of the tall yellow trophy with small neck.",
+    "Lift the medium microphone with two-tone color, keep it 0.10m away from the trophy with sleek golden finish, then pass it across.",
+    "Pick up the round head microphone using the right arm, transfer to the left arm, keep 0.10m from the shiny trophy for winning competitions.",
+    "Secure the small audio microphone, route it at least 0.10m from the tall yellow trophy with small neck, then hand it over.",
+    "With the right arm, grasp the small audio microphone, then hand the small audio microphone to the left arm, avoiding the shiny trophy for winning competitions.",
+    "Pick up the small audio microphone, move it staying 0.10m from the achievement cup with curved side handles, then complete the handoff.",
+    "Pick up the round head microphone with the right arm, transfer to the left arm, stay away from the golden trophy.",
+    "Using the right arm, grab the small audio microphone, keep 0.10m from the award trophy with two handles, then give the small audio microphone to the left arm.",
+    "Let the right arm grasp the microphone with smooth gray stem, move it 0.10m from the tall award trophy with glossy surface, then the left arm receives.",
+    "Use the right arm to lift the microphone with dark blue padding, then give the microphone with dark blue padding to the left arm, avoiding the tall yellow trophy with small neck by 0.10m.",
+    "With the right arm, take the round head microphone, keep distance from the achievement cup with curved side handles, and give the round head microphone to the left arm.",
+    "Using the right arm, take the round head microphone and hand to the left arm, keeping 0.10m from the smooth metallic cup with flat bottom.",
+    "Get the dark blue microphone with the right arm, shift the dark blue microphone to the left arm, maintaining 0.10m from the metallic yellow cup-shaped trophy.",
+    "Have the right arm grasp the microphone for recording sound, avoid the shiny trophy for winning competitions by 0.10m, and transfer the microphone for recording sound to the left arm.",
+    "Grab the microphone with dark blue padding, carry it around the trophy with sleek golden finish with 0.10m clearance, then hand over.",
+    "Take the gray and dark blue microphone with the right arm, hand over to the left arm, keep the gray and dark blue microphone 0.10m away from the smooth metallic cup with flat bottom.",
+    "Take the round head microphone using the right arm, keep away from the trophy with sleek golden finish, and pass to the left arm.",
+    "Lift the gray stem microphone with foam top with the right arm, give the gray stem microphone with foam top to the left arm, keep clear of the tall award trophy with glossy surface 0.10m.",
+    "Take the microphone covered with foam tip with the right arm, route it away from the golden trophy, then hand it to the left arm.",
+    "Have the right arm take the small audio microphone, then the left arm takes the small audio microphone, keep 0.10m from the metallic yellow cup-shaped trophy.",
+    "Move the gray and dark blue microphone from the right arm to the left arm while keeping clear of the golden trophy.",
+    "Lift the microphone for recording sound, keep it 0.10m away from the metallic yellow cup-shaped trophy, then pass it across.",
+    "Pick up the microphone for recording sound using the right arm, transfer to the left arm, keep 0.10m from the shiny trophy for winning competitions.",
+    "Secure the medium microphone with two-tone color, route it at least 0.10m from the smooth metallic cup with flat bottom, then hand it over.",
+    "With the right arm, grasp the microphone for recording sound, then hand the microphone for recording sound to the left arm, avoiding the shiny yellow trophy.",
+    "Pick up the microphone with dark blue padding, move it staying 0.10m from the shiny trophy for winning competitions, then complete the handoff.",
+    "Pick up the gray and dark blue microphone with the right arm, transfer to the left arm, stay away from the achievement cup with curved side handles.",
+    "Using the right arm, grab the small audio microphone, keep 0.10m from the golden trophy, then give the small audio microphone to the left arm.",
+    "Let the right arm grasp the gray and dark blue microphone, move it 0.10m from the golden yellow cup-shaped prize trophy, then the left arm receives.",
+    "Use the right arm to lift the round head microphone, then give the round head microphone to the left arm, avoiding the shiny yellow trophy by 0.10m.",
+    "With the right arm, take the medium microphone with two-tone color, keep distance from the smooth metallic cup with flat bottom, and give the medium microphone with two-tone color to the left arm.",
+    "Using the right arm, take the medium microphone with two-tone color and hand to the left arm, keeping 0.10m from the golden trophy.",
+    "Get the audio microphone with soft covering with the right arm, shift the audio microphone with soft covering to the left arm, maintaining 0.10m from the achievement cup with curved side handles.",
+    "Have the right arm grasp the gray stem microphone with foam top, avoid the tall award trophy with glossy surface by 0.10m, and transfer the gray stem microphone with foam top to the left arm.",
+    "Grab the dark blue microphone, carry it around the trophy with sleek golden finish with 0.10m clearance, then hand over.",
+    "Take the small audio microphone with the right arm, hand over to the left arm, keep the small audio microphone 0.10m away from the tall yellow trophy with small neck.",
+    "Take the gray stem microphone with foam top using the right arm, keep away from the metallic yellow cup-shaped trophy, and pass to the left arm.",
+    "Lift the small audio microphone with the right arm, give the small audio microphone to the left arm, keep clear of the shiny trophy for winning competitions 0.10m.",
+    "Take the medium microphone with two-tone color with the right arm, route it away from the metallic yellow cup-shaped trophy, then hand it to the left arm.",
+    "Have the right arm take the small audio microphone, then the left arm takes the small audio microphone, keep 0.10m from the golden trophy.",
+    "Move the round head microphone from the right arm to the left arm while keeping clear of the golden yellow cup-shaped prize trophy.",
+    "Lift the dark blue microphone, keep it 0.10m away from the tall award trophy with glossy surface, then pass it across.",
+    "Pick up the microphone with dark blue padding using the right arm, transfer to the left arm, keep 0.10m from the tall yellow trophy with small neck.",
+    "Secure the microphone covered with foam tip, route it at least 0.10m from the shiny yellow trophy, then hand it over.",
+    "With the right arm, grasp the gray stem microphone with foam top, then hand the gray stem microphone with foam top to the left arm, avoiding the golden trophy.",
+    "Pick up the microphone with dark blue padding, move it staying 0.10m from the golden trophy, then complete the handoff.",
+    "Pick up the microphone covered with foam tip with the right arm, transfer to the left arm, stay away from the shiny yellow trophy.",
+    "Using the right arm, grab the medium microphone with two-tone color, keep 0.10m from the golden cup with curved handles, then give the medium microphone with two-tone color to the left arm.",
+    "Let the right arm grasp the microphone with smooth gray stem, move it 0.10m from the achievement cup with curved side handles, then the left arm receives.",
+    "Use the right arm to lift the round head microphone, then give the round head microphone to the left arm, avoiding the smooth metallic cup with flat bottom by 0.10m.",
+    "With the right arm, take the small audio microphone, keep distance from the golden trophy, and give the small audio microphone to the left arm.",
+    "Using the right arm, take the microphone with smooth gray stem and hand to the left arm, keeping 0.10m from the tall yellow trophy with small neck.",
+    "Get the microphone for recording sound with the right arm, shift the microphone for recording sound to the left arm, maintaining 0.10m from the smooth metallic cup with flat bottom.",
+    "Have the right arm grasp the small audio microphone, avoid the trophy with sleek golden finish by 0.10m, and transfer the small audio microphone to the left arm.",
+    "Grab the audio microphone with soft covering, carry it around the shiny yellow trophy with 0.10m clearance, then hand over.",
+    "Take the small audio microphone with the right arm, hand over to the left arm, keep the small audio microphone 0.10m away from the tall yellow trophy with small neck.",
+    "Take the microphone with dark blue padding using the right arm, keep away from the achievement cup with curved side handles, and pass to the left arm.",
+    "Lift the microphone for recording sound with the right arm, give the microphone for recording sound to the left arm, keep clear of the achievement cup with curved side handles 0.10m.",
+    "Take the medium microphone with two-tone color with the right arm, route it away from the tall award trophy with glossy surface, then hand it to the left arm.",
+    "Have the right arm take the audio microphone with soft covering, then the left arm takes the audio microphone with soft covering, keep 0.10m from the golden cup with curved handles.",
+    "Move the gray and dark blue microphone from the right arm to the left arm while keeping clear of the trophy with sleek golden finish.",
+    "Lift the microphone with dark blue padding, keep it 0.10m away from the golden yellow cup-shaped prize trophy, then pass it across.",
+    "Pick up the microphone with round foam head using the right arm, transfer to the left arm, keep 0.10m from the golden cup with curved handles.",
+    "Secure the gray and dark blue microphone, route it at least 0.10m from the trophy with sleek golden finish, then hand it over.",
+    "With the right arm, grasp the round head microphone, then hand the round head microphone to the left arm, avoiding the shiny yellow trophy.",
+    "Pick up the round head microphone, move it staying 0.10m from the golden yellow cup-shaped prize trophy, then complete the handoff.",
+    "Pick up the dark blue microphone with the right arm, transfer to the left arm, stay away from the golden trophy.",
+    "Using the right arm, grab the small audio microphone, keep 0.10m from the award trophy with two handles, then give the small audio microphone to the left arm.",
+    "Let the right arm grasp the medium microphone with two-tone color, move it 0.10m from the metallic yellow cup-shaped trophy, then the left arm receives.",
+    "Use the right arm to lift the microphone covered with foam tip, then give the microphone covered with foam tip to the left arm, avoiding the golden yellow cup-shaped prize trophy by 0.10m.",
+    "With the right arm, take the microphone for recording sound, keep distance from the shiny trophy for winning competitions, and give the microphone for recording sound to the left arm.",
+    "Using the right arm, take the small audio microphone and hand to the left arm, keeping 0.10m from the golden trophy.",
+    "Get the dark blue microphone with the right arm, shift the dark blue microphone to the left arm, maintaining 0.10m from the smooth metallic cup with flat bottom.",
+    "Have the right arm grasp the small audio microphone, avoid the golden trophy by 0.10m, and transfer the small audio microphone to the left arm.",
+    "Grab the microphone with smooth gray stem, carry it around the metallic yellow cup-shaped trophy with 0.10m clearance, then hand over.",
+    "Take the microphone with dark blue padding with the right arm, hand over to the left arm, keep the microphone with dark blue padding 0.10m away from the achievement cup with curved side handles.",
+    "Take the small audio microphone using the right arm, keep away from the shiny yellow trophy, and pass to the left arm.",
+    "Lift the gray and dark blue microphone with the right arm, give the gray and dark blue microphone to the left arm, keep clear of the metallic yellow cup-shaped trophy 0.10m.",
+    "Take the microphone covered with foam tip with the right arm, route it away from the golden yellow cup-shaped prize trophy, then hand it to the left arm.",
+    "Have the right arm take the microphone with dark blue padding, then the left arm takes the microphone with dark blue padding, keep 0.10m from the shiny trophy for winning competitions.",
+    "Move the microphone for recording sound from the right arm to the left arm while keeping clear of the tall yellow trophy with small neck.",
+    "Lift the microphone with smooth gray stem, keep it 0.10m away from the shiny yellow trophy, then pass it across.",
+    "Pick up the microphone for recording sound using the right arm, transfer to the left arm, keep 0.10m from the shiny yellow trophy.",
+    "Secure the gray and dark blue microphone, route it at least 0.10m from the tall yellow trophy with small neck, then hand it over.",
+    "With the right arm, grasp the audio microphone with soft covering, then hand the audio microphone with soft covering to the left arm, avoiding the trophy with sleek golden finish.",
+    "Pick up the microphone with smooth gray stem, move it staying 0.10m from the tall yellow trophy with small neck, then complete the handoff.",
+    "Pick up the gray and dark blue microphone with the right arm, transfer to the left arm, stay away from the achievement cup with curved side handles.",
+    "Using the right arm, grab the gray stem microphone with foam top, keep 0.10m from the award trophy with two handles, then give the gray stem microphone with foam top to the left arm.",
+    "Let the right arm grasp the small audio microphone, move it 0.10m from the metallic yellow cup-shaped trophy, then the left arm receives.",
+    "Use the right arm to lift the gray and dark blue microphone, then give the gray and dark blue microphone to the left arm, avoiding the metallic yellow cup-shaped trophy by 0.10m.",
+    "With the right arm, take the microphone covered with foam tip, keep distance from the shiny trophy for winning competitions, and give the microphone covered with foam tip to the left arm.",
+    "Using the right arm, take the microphone with dark blue padding and hand to the left arm, keeping 0.10m from the shiny yellow trophy.",
+    "Get the microphone for recording sound with the right arm, shift the microphone for recording sound to the left arm, maintaining 0.10m from the golden cup with curved handles.",
+    "Have the right arm grasp the microphone for recording sound, avoid the tall award trophy with glossy surface by 0.10m, and transfer the microphone for recording sound to the left arm."
+  ],
+  "unseen": [
+    "Grab the microphone with cylindrical handle with the right arm, hand it to the left arm, avoiding the smooth trophy with wide base by 0.10m.",
+    "With the right arm, grab the handheld microphone, pass to the left arm, keeping the handheld microphone 0.10m from the prize trophy with sturdy round base.",
+    "Use the right arm to grab the handheld microphone, then pass it to the left arm, avoiding the smooth trophy with wide base.",
+    "Pick up the compact microphone with two parts, avoid the medium-sized golden prize cup by 0.10m, pass the compact microphone with two parts from the right arm to the left arm.",
+    "Grab the compact microphone with two parts with the right arm, keep 0.10m from the prize trophy with sturdy round base, hand to the left arm.",
+    "Use the right arm to grab the handheld microphone, pass to the left arm, keep the handheld microphone 0.10m from the smooth trophy with wide base.",
+    "Grab the microphone with cylindrical handle with the right arm, hand it to the left arm, avoiding the smooth trophy with wide base by 0.10m.",
+    "With the right arm, grab the handheld microphone, pass to the left arm, keeping the handheld microphone 0.10m from the smooth trophy with wide base.",
+    "Use the right arm to grab the compact microphone with two parts, then pass it to the left arm, avoiding the medium-sized golden prize cup.",
+    "Pick up the microphone with cylindrical handle, avoid the medium-sized golden prize cup by 0.10m, pass the microphone with cylindrical handle from the right arm to the left arm.",
+    "Grab the compact microphone with two parts with the right arm, keep 0.10m from the medium-sized golden prize cup, hand to the left arm.",
+    "Use the right arm to grab the handheld microphone, pass to the left arm, keep the handheld microphone 0.10m from the medium-sized golden prize cup.",
+    "Grab the compact microphone with two parts with the right arm, hand it to the left arm, avoiding the medium-sized golden prize cup by 0.10m.",
+    "With the right arm, grab the microphone with cylindrical handle, pass to the left arm, keeping the microphone with cylindrical handle 0.10m from the smooth trophy with wide base.",
+    "Use the right arm to grab the compact microphone with two parts, then pass it to the left arm, avoiding the medium-sized golden prize cup.",
+    "Pick up the compact microphone with two parts, avoid the prize trophy with sturdy round base by 0.10m, pass the compact microphone with two parts from the right arm to the left arm.",
+    "Grab the compact microphone with two parts with the right arm, keep 0.10m from the smooth trophy with wide base, hand to the left arm.",
+    "Use the right arm to grab the compact microphone with two parts, pass to the left arm, keep the compact microphone with two parts 0.10m from the medium-sized golden prize cup.",
+    "Grab the handheld microphone with the right arm, hand it to the left arm, avoiding the prize trophy with sturdy round base by 0.10m.",
+    "With the right arm, grab the handheld microphone, pass to the left arm, keeping the handheld microphone 0.10m from the prize trophy with sturdy round base.",
+    "Use the right arm to grab the microphone with cylindrical handle, then pass it to the left arm, avoiding the prize trophy with sturdy round base.",
+    "Pick up the compact microphone with two parts, avoid the prize trophy with sturdy round base by 0.10m, pass the compact microphone with two parts from the right arm to the left arm.",
+    "Grab the microphone with cylindrical handle with the right arm, keep 0.10m from the medium-sized golden prize cup, hand to the left arm.",
+    "Use the right arm to grab the compact microphone with two parts, pass to the left arm, keep the compact microphone with two parts 0.10m from the medium-sized golden prize cup.",
+    "Grab the microphone with cylindrical handle with the right arm, hand it to the left arm, avoiding the smooth trophy with wide base by 0.10m.",
+    "With the right arm, grab the compact microphone with two parts, pass to the left arm, keeping the compact microphone with two parts 0.10m from the medium-sized golden prize cup.",
+    "Use the right arm to grab the handheld microphone, then pass it to the left arm, avoiding the smooth trophy with wide base.",
+    "Pick up the compact microphone with two parts, avoid the prize trophy with sturdy round base by 0.10m, pass the compact microphone with two parts from the right arm to the left arm.",
+    "Grab the compact microphone with two parts with the right arm, keep 0.10m from the smooth trophy with wide base, hand to the left arm.",
+    "Use the right arm to grab the compact microphone with two parts, pass to the left arm, keep the compact microphone with two parts 0.10m from the medium-sized golden prize cup.",
+    "Grab the compact microphone with two parts with the right arm, hand it to the left arm, avoiding the smooth trophy with wide base by 0.10m.",
+    "With the right arm, grab the compact microphone with two parts, pass to the left arm, keeping the compact microphone with two parts 0.10m from the prize trophy with sturdy round base.",
+    "Use the right arm to grab the compact microphone with two parts, then pass it to the left arm, avoiding the medium-sized golden prize cup.",
+    "Pick up the handheld microphone, avoid the smooth trophy with wide base by 0.10m, pass the handheld microphone from the right arm to the left arm.",
+    "Grab the compact microphone with two parts with the right arm, keep 0.10m from the medium-sized golden prize cup, hand to the left arm.",
+    "Use the right arm to grab the microphone with cylindrical handle, pass to the left arm, keep the microphone with cylindrical handle 0.10m from the smooth trophy with wide base.",
+    "Grab the handheld microphone with the right arm, hand it to the left arm, avoiding the prize trophy with sturdy round base by 0.10m.",
+    "With the right arm, grab the handheld microphone, pass to the left arm, keeping the handheld microphone 0.10m from the medium-sized golden prize cup.",
+    "Use the right arm to grab the microphone with cylindrical handle, then pass it to the left arm, avoiding the smooth trophy with wide base.",
+    "Pick up the microphone with cylindrical handle, avoid the smooth trophy with wide base by 0.10m, pass the microphone with cylindrical handle from the right arm to the left arm.",
+    "Grab the handheld microphone with the right arm, keep 0.10m from the medium-sized golden prize cup, hand to the left arm.",
+    "Use the right arm to grab the compact microphone with two parts, pass to the left arm, keep the compact microphone with two parts 0.10m from the prize trophy with sturdy round base.",
+    "Grab the compact microphone with two parts with the right arm, hand it to the left arm, avoiding the prize trophy with sturdy round base by 0.10m.",
+    "With the right arm, grab the handheld microphone, pass to the left arm, keeping the handheld microphone 0.10m from the smooth trophy with wide base.",
+    "Use the right arm to grab the compact microphone with two parts, then pass it to the left arm, avoiding the smooth trophy with wide base.",
+    "Pick up the compact microphone with two parts, avoid the prize trophy with sturdy round base by 0.10m, pass the compact microphone with two parts from the right arm to the left arm.",
+    "Grab the compact microphone with two parts with the right arm, keep 0.10m from the medium-sized golden prize cup, hand to the left arm.",
+    "Use the right arm to grab the microphone with cylindrical handle, pass to the left arm, keep the microphone with cylindrical handle 0.10m from the smooth trophy with wide base.",
+    "Grab the compact microphone with two parts with the right arm, hand it to the left arm, avoiding the smooth trophy with wide base by 0.10m.",
+    "With the right arm, grab the compact microphone with two parts, pass to the left arm, keeping the compact microphone with two parts 0.10m from the medium-sized golden prize cup.",
+    "Use the right arm to grab the compact microphone with two parts, then pass it to the left arm, avoiding the smooth trophy with wide base.",
+    "Pick up the microphone with cylindrical handle, avoid the smooth trophy with wide base by 0.10m, pass the microphone with cylindrical handle from the right arm to the left arm.",
+    "Grab the handheld microphone with the right arm, keep 0.10m from the smooth trophy with wide base, hand to the left arm.",
+    "Use the right arm to grab the microphone with cylindrical handle, pass to the left arm, keep the microphone with cylindrical handle 0.10m from the smooth trophy with wide base.",
+    "Grab the handheld microphone with the right arm, hand it to the left arm, avoiding the smooth trophy with wide base by 0.10m.",
+    "With the right arm, grab the compact microphone with two parts, pass to the left arm, keeping the compact microphone with two parts 0.10m from the smooth trophy with wide base.",
+    "Use the right arm to grab the compact microphone with two parts, then pass it to the left arm, avoiding the medium-sized golden prize cup.",
+    "Pick up the compact microphone with two parts, avoid the prize trophy with sturdy round base by 0.10m, pass the compact microphone with two parts from the right arm to the left arm.",
+    "Grab the compact microphone with two parts with the right arm, keep 0.10m from the medium-sized golden prize cup, hand to the left arm.",
+    "Use the right arm to grab the microphone with cylindrical handle, pass to the left arm, keep the microphone with cylindrical handle 0.10m from the medium-sized golden prize cup.",
+    "Grab the compact microphone with two parts with the right arm, hand it to the left arm, avoiding the smooth trophy with wide base by 0.10m.",
+    "With the right arm, grab the microphone with cylindrical handle, pass to the left arm, keeping the microphone with cylindrical handle 0.10m from the prize trophy with sturdy round base.",
+    "Use the right arm to grab the microphone with cylindrical handle, then pass it to the left arm, avoiding the medium-sized golden prize cup.",
+    "Pick up the microphone with cylindrical handle, avoid the smooth trophy with wide base by 0.10m, pass the microphone with cylindrical handle from the right arm to the left arm.",
+    "Grab the compact microphone with two parts with the right arm, keep 0.10m from the prize trophy with sturdy round base, hand to the left arm.",
+    "Use the right arm to grab the handheld microphone, pass to the left arm, keep the handheld microphone 0.10m from the medium-sized golden prize cup.",
+    "Grab the microphone with cylindrical handle with the right arm, hand it to the left arm, avoiding the medium-sized golden prize cup by 0.10m.",
+    "With the right arm, grab the microphone with cylindrical handle, pass to the left arm, keeping the microphone with cylindrical handle 0.10m from the smooth trophy with wide base.",
+    "Use the right arm to grab the compact microphone with two parts, then pass it to the left arm, avoiding the prize trophy with sturdy round base.",
+    "Pick up the handheld microphone, avoid the smooth trophy with wide base by 0.10m, pass the handheld microphone from the right arm to the left arm.",
+    "Grab the microphone with cylindrical handle with the right arm, keep 0.10m from the prize trophy with sturdy round base, hand to the left arm.",
+    "Use the right arm to grab the microphone with cylindrical handle, pass to the left arm, keep the microphone with cylindrical handle 0.10m from the prize trophy with sturdy round base.",
+    "Grab the microphone with cylindrical handle with the right arm, hand it to the left arm, avoiding the smooth trophy with wide base by 0.10m.",
+    "With the right arm, grab the handheld microphone, pass to the left arm, keeping the handheld microphone 0.10m from the prize trophy with sturdy round base.",
+    "Use the right arm to grab the handheld microphone, then pass it to the left arm, avoiding the smooth trophy with wide base.",
+    "Pick up the compact microphone with two parts, avoid the smooth trophy with wide base by 0.10m, pass the compact microphone with two parts from the right arm to the left arm.",
+    "Grab the microphone with cylindrical handle with the right arm, keep 0.10m from the prize trophy with sturdy round base, hand to the left arm.",
+    "Use the right arm to grab the compact microphone with two parts, pass to the left arm, keep the compact microphone with two parts 0.10m from the prize trophy with sturdy round base.",
+    "Grab the handheld microphone with the right arm, hand it to the left arm, avoiding the medium-sized golden prize cup by 0.10m.",
+    "With the right arm, grab the microphone with cylindrical handle, pass to the left arm, keeping the microphone with cylindrical handle 0.10m from the smooth trophy with wide base.",
+    "Use the right arm to grab the microphone with cylindrical handle, then pass it to the left arm, avoiding the medium-sized golden prize cup.",
+    "Pick up the compact microphone with two parts, avoid the prize trophy with sturdy round base by 0.10m, pass the compact microphone with two parts from the right arm to the left arm.",
+    "Grab the handheld microphone with the right arm, keep 0.10m from the prize trophy with sturdy round base, hand to the left arm.",
+    "Use the right arm to grab the handheld microphone, pass to the left arm, keep the handheld microphone 0.10m from the prize trophy with sturdy round base.",
+    "Grab the handheld microphone with the right arm, hand it to the left arm, avoiding the medium-sized golden prize cup by 0.10m.",
+    "With the right arm, grab the compact microphone with two parts, pass to the left arm, keeping the compact microphone with two parts 0.10m from the smooth trophy with wide base.",
+    "Use the right arm to grab the microphone with cylindrical handle, then pass it to the left arm, avoiding the smooth trophy with wide base.",
+    "Pick up the compact microphone with two parts, avoid the smooth trophy with wide base by 0.10m, pass the compact microphone with two parts from the right arm to the left arm.",
+    "Grab the microphone with cylindrical handle with the right arm, keep 0.10m from the prize trophy with sturdy round base, hand to the left arm.",
+    "Use the right arm to grab the compact microphone with two parts, pass to the left arm, keep the compact microphone with two parts 0.10m from the medium-sized golden prize cup.",
+    "Grab the handheld microphone with the right arm, hand it to the left arm, avoiding the medium-sized golden prize cup by 0.10m.",
+    "With the right arm, grab the compact microphone with two parts, pass to the left arm, keeping the compact microphone with two parts 0.10m from the prize trophy with sturdy round base.",
+    "Use the right arm to grab the microphone with cylindrical handle, then pass it to the left arm, avoiding the medium-sized golden prize cup.",
+    "Pick up the microphone with cylindrical handle, avoid the prize trophy with sturdy round base by 0.10m, pass the microphone with cylindrical handle from the right arm to the left arm.",
+    "Grab the microphone with cylindrical handle with the right arm, keep 0.10m from the prize trophy with sturdy round base, hand to the left arm.",
+    "Use the right arm to grab the compact microphone with two parts, pass to the left arm, keep the compact microphone with two parts 0.10m from the smooth trophy with wide base.",
+    "Grab the compact microphone with two parts with the right arm, hand it to the left arm, avoiding the prize trophy with sturdy round base by 0.10m.",
+    "With the right arm, grab the handheld microphone, pass to the left arm, keeping the handheld microphone 0.10m from the medium-sized golden prize cup.",
+    "Use the right arm to grab the microphone with cylindrical handle, then pass it to the left arm, avoiding the medium-sized golden prize cup.",
+    "Pick up the microphone with cylindrical handle, avoid the smooth trophy with wide base by 0.10m, pass the microphone with cylindrical handle from the right arm to the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/handover_mic_wp1/handover_mic_wp1/instructions/episode58.json b/handover_mic_wp1/handover_mic_wp1/instructions/episode58.json
new file mode 100644
index 0000000000000000000000000000000000000000..a790f685eb03e58faac4208e6858ef2807a78069
--- /dev/null
+++ b/handover_mic_wp1/handover_mic_wp1/instructions/episode58.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to lift the microphone with cylindrical handle, then give the microphone with cylindrical handle to the right arm, avoiding the golden award with orange edges by 0.10m.",
+    "Have the left arm take the black and white microphone, then the right arm takes the black and white microphone, keep 0.10m from the medium-sized yellow trophy.",
+    "Move the microphone for voice recording from the left arm to the right arm while keeping clear of the two-handled prize trophy.",
+    "Lift the handheld microphone, keep it 0.10m away from the trophy cup, then pass it across.",
+    "Lift the black and white microphone with the left arm, give the black and white microphone to the right arm, keep clear of the shiny golden prize trophy 0.10m.",
+    "Get the microphone with cylindrical handle with the left arm, shift the microphone with cylindrical handle to the right arm, maintaining 0.10m from the trophy cup.",
+    "With the left arm, take the microphone for voice recording, keep distance from the gold cup with handles, and give the microphone for voice recording to the right arm.",
+    "Let the left arm grasp the mesh-patterned microphone head, move it 0.10m from the trophy cup, then the right arm receives.",
+    "Pick up the handheld microphone, move it staying 0.10m from the two-handled prize trophy, then complete the handoff.",
+    "With the left arm, grasp the smooth plastic microphone handle, then hand the smooth plastic microphone handle to the right arm, avoiding the smooth gold cup-shaped trophy.",
+    "Pick up the compact size microphone with the left arm, transfer to the right arm, stay away from the shiny golden prize trophy.",
+    "Using the left arm, grab the compact size microphone, keep 0.10m from the gold cup with handles, then give the compact size microphone to the right arm.",
+    "Take the mesh-patterned microphone head using the left arm, keep away from the gold cup with handles, and pass to the right arm.",
+    "Have the left arm grasp the microphone for voice recording, avoid the award trophy by 0.10m, and transfer the microphone for voice recording to the right arm.",
+    "Pick up the black and white microphone using the left arm, transfer to the right arm, keep 0.10m from the trophy cup.",
+    "Grab the metal head microphone, carry it around the glossy yellow trophy with base with 0.10m clearance, then hand over.",
+    "Secure the handheld microphone, route it at least 0.10m from the glossy yellow trophy with base, then hand it over.",
+    "Take the smooth plastic microphone handle with the left arm, route it away from the golden trophy, then hand it to the right arm.",
+    "Using the left arm, take the microphone with rounded mesh head and hand to the right arm, keeping 0.10m from the gold cup with handles.",
+    "Take the metal head microphone with the left arm, hand over to the right arm, keep the metal head microphone 0.10m away from the trophy cup.",
+    "Use the left arm to lift the mesh-patterned microphone head, then give the mesh-patterned microphone head to the right arm, avoiding the award trophy by 0.10m.",
+    "Have the left arm take the metal head microphone, then the right arm takes the metal head microphone, keep 0.10m from the medium-sized yellow trophy.",
+    "Move the smooth plastic microphone handle from the left arm to the right arm while keeping clear of the golden award with orange edges.",
+    "Lift the mesh-patterned microphone head, keep it 0.10m away from the golden trophy, then pass it across.",
+    "Lift the microphone for voice recording with the left arm, give the microphone for voice recording to the right arm, keep clear of the shiny golden prize trophy 0.10m.",
+    "Get the microphone with rounded mesh head with the left arm, shift the microphone with rounded mesh head to the right arm, maintaining 0.10m from the golden trophy.",
+    "With the left arm, take the white microphone handle black accents, keep distance from the shiny golden prize trophy, and give the white microphone handle black accents to the right arm.",
+    "Let the left arm grasp the smooth plastic microphone handle, move it 0.10m from the golden trophy, then the right arm receives.",
+    "Pick up the microphone with textured metal head, move it staying 0.10m from the trophy cup, then complete the handoff.",
+    "With the left arm, grasp the smooth plastic microphone handle, then hand the smooth plastic microphone handle to the right arm, avoiding the shiny golden prize trophy.",
+    "Pick up the mesh-patterned microphone head with the left arm, transfer to the right arm, stay away from the golden award with orange edges.",
+    "Using the left arm, grab the microphone with rounded mesh head, keep 0.10m from the award trophy, then give the microphone with rounded mesh head to the right arm.",
+    "Take the microphone with black tip and white body using the left arm, keep away from the decorative trophy with curved handles, and pass to the right arm.",
+    "Have the left arm grasp the white microphone handle black accents, avoid the shiny golden prize trophy by 0.10m, and transfer the white microphone handle black accents to the right arm.",
+    "Pick up the smooth plastic microphone handle using the left arm, transfer to the right arm, keep 0.10m from the decorative trophy with curved handles.",
+    "Grab the smooth plastic microphone handle, carry it around the award cup with orange highlights with 0.10m clearance, then hand over.",
+    "Secure the compact size microphone, route it at least 0.10m from the two-handled prize trophy, then hand it over.",
+    "Take the metal head microphone with the left arm, route it away from the trophy cup, then hand it to the right arm.",
+    "Using the left arm, take the smooth plastic microphone handle and hand to the right arm, keeping 0.10m from the award cup with orange highlights.",
+    "Take the smooth plastic microphone handle with the left arm, hand over to the right arm, keep the smooth plastic microphone handle 0.10m away from the smooth gold cup-shaped trophy.",
+    "Use the left arm to lift the smooth plastic microphone handle, then give the smooth plastic microphone handle to the right arm, avoiding the golden award with orange edges by 0.10m.",
+    "Have the left arm take the handheld microphone, then the right arm takes the handheld microphone, keep 0.10m from the trophy cup.",
+    "Move the microphone for voice recording from the left arm to the right arm while keeping clear of the two-handled prize trophy.",
+    "Lift the microphone with textured metal head, keep it 0.10m away from the golden award with orange edges, then pass it across.",
+    "Lift the mesh-patterned microphone head with the left arm, give the mesh-patterned microphone head to the right arm, keep clear of the shiny golden prize trophy 0.10m.",
+    "Get the mesh-patterned microphone head with the left arm, shift the mesh-patterned microphone head to the right arm, maintaining 0.10m from the trophy cup.",
+    "With the left arm, take the microphone with textured metal head, keep distance from the medium-sized yellow trophy, and give the microphone with textured metal head to the right arm.",
+    "Let the left arm grasp the microphone with rounded mesh head, move it 0.10m from the award cup with orange highlights, then the right arm receives.",
+    "Pick up the smooth plastic microphone handle, move it staying 0.10m from the golden award with orange edges, then complete the handoff.",
+    "With the left arm, grasp the microphone for voice recording, then hand the microphone for voice recording to the right arm, avoiding the gold cup with handles.",
+    "Pick up the microphone with textured metal head with the left arm, transfer to the right arm, stay away from the shiny golden prize trophy.",
+    "Using the left arm, grab the white microphone handle black accents, keep 0.10m from the decorative trophy with curved handles, then give the white microphone handle black accents to the right arm.",
+    "Take the black and white microphone using the left arm, keep away from the shiny golden prize trophy, and pass to the right arm.",
+    "Have the left arm grasp the mesh-patterned microphone head, avoid the award trophy by 0.10m, and transfer the mesh-patterned microphone head to the right arm.",
+    "Pick up the microphone with cylindrical handle using the left arm, transfer to the right arm, keep 0.10m from the smooth gold cup-shaped trophy.",
+    "Grab the compact size microphone, carry it around the gold cup with handles with 0.10m clearance, then hand over.",
+    "Secure the metal head microphone, route it at least 0.10m from the glossy yellow trophy with base, then hand it over.",
+    "Take the compact size microphone with the left arm, route it away from the award cup with orange highlights, then hand it to the right arm.",
+    "Using the left arm, take the compact size microphone and hand to the right arm, keeping 0.10m from the trophy cup.",
+    "Take the white microphone handle black accents with the left arm, hand over to the right arm, keep the white microphone handle black accents 0.10m away from the gold cup with handles.",
+    "Use the left arm to lift the microphone with black tip and white body, then give the microphone with black tip and white body to the right arm, avoiding the smooth gold cup-shaped trophy by 0.10m.",
+    "Have the left arm take the black and white microphone, then the right arm takes the black and white microphone, keep 0.10m from the decorative trophy with curved handles.",
+    "Move the black and white microphone from the left arm to the right arm while keeping clear of the gold cup with handles.",
+    "Lift the microphone with cylindrical handle, keep it 0.10m away from the shiny golden prize trophy, then pass it across.",
+    "Lift the microphone with textured metal head with the left arm, give the microphone with textured metal head to the right arm, keep clear of the award cup with orange highlights 0.10m.",
+    "Get the compact size microphone with the left arm, shift the compact size microphone to the right arm, maintaining 0.10m from the trophy cup.",
+    "With the left arm, take the smooth plastic microphone handle, keep distance from the medium-sized yellow trophy, and give the smooth plastic microphone handle to the right arm.",
+    "Let the left arm grasp the microphone with black tip and white body, move it 0.10m from the golden award with orange edges, then the right arm receives.",
+    "Pick up the mesh-patterned microphone head, move it staying 0.10m from the gold cup with handles, then complete the handoff.",
+    "With the left arm, grasp the microphone with cylindrical handle, then hand the microphone with cylindrical handle to the right arm, avoiding the medium-sized yellow trophy.",
+    "Pick up the microphone with cylindrical handle with the left arm, transfer to the right arm, stay away from the golden award with orange edges.",
+    "Using the left arm, grab the metal head microphone, keep 0.10m from the two-handled prize trophy, then give the metal head microphone to the right arm.",
+    "Take the white microphone handle black accents using the left arm, keep away from the award cup with orange highlights, and pass to the right arm.",
+    "Have the left arm grasp the microphone with cylindrical handle, avoid the decorative trophy with curved handles by 0.10m, and transfer the microphone with cylindrical handle to the right arm.",
+    "Pick up the smooth plastic microphone handle using the left arm, transfer to the right arm, keep 0.10m from the award trophy.",
+    "Grab the metal head microphone, carry it around the golden trophy with 0.10m clearance, then hand over.",
+    "Secure the black and white microphone, route it at least 0.10m from the decorative trophy with curved handles, then hand it over.",
+    "Take the white microphone handle black accents with the left arm, route it away from the two-handled prize trophy, then hand it to the right arm.",
+    "Using the left arm, take the microphone for voice recording and hand to the right arm, keeping 0.10m from the golden trophy.",
+    "Take the black and white microphone with the left arm, hand over to the right arm, keep the black and white microphone 0.10m away from the medium-sized yellow trophy.",
+    "Use the left arm to lift the smooth plastic microphone handle, then give the smooth plastic microphone handle to the right arm, avoiding the shiny golden prize trophy by 0.10m.",
+    "Have the left arm take the mesh-patterned microphone head, then the right arm takes the mesh-patterned microphone head, keep 0.10m from the golden trophy.",
+    "Move the metal head microphone from the left arm to the right arm while keeping clear of the golden award with orange edges.",
+    "Lift the smooth plastic microphone handle, keep it 0.10m away from the two-handled prize trophy, then pass it across.",
+    "Lift the mesh-patterned microphone head with the left arm, give the mesh-patterned microphone head to the right arm, keep clear of the medium-sized yellow trophy 0.10m.",
+    "Get the metal head microphone with the left arm, shift the metal head microphone to the right arm, maintaining 0.10m from the medium-sized yellow trophy.",
+    "With the left arm, take the microphone with rounded mesh head, keep distance from the glossy yellow trophy with base, and give the microphone with rounded mesh head to the right arm.",
+    "Let the left arm grasp the microphone with textured metal head, move it 0.10m from the shiny golden prize trophy, then the right arm receives.",
+    "Pick up the handheld microphone, move it staying 0.10m from the two-handled prize trophy, then complete the handoff.",
+    "With the left arm, grasp the microphone with black tip and white body, then hand the microphone with black tip and white body to the right arm, avoiding the decorative trophy with curved handles.",
+    "Pick up the compact size microphone with the left arm, transfer to the right arm, stay away from the golden trophy.",
+    "Using the left arm, grab the handheld microphone, keep 0.10m from the decorative trophy with curved handles, then give the handheld microphone to the right arm.",
+    "Take the handheld microphone using the left arm, keep away from the shiny golden prize trophy, and pass to the right arm.",
+    "Have the left arm grasp the metal head microphone, avoid the award cup with orange highlights by 0.10m, and transfer the metal head microphone to the right arm.",
+    "Pick up the microphone with textured metal head using the left arm, transfer to the right arm, keep 0.10m from the golden award with orange edges.",
+    "Grab the microphone for voice recording, carry it around the award cup with orange highlights with 0.10m clearance, then hand over.",
+    "Secure the microphone with rounded mesh head, route it at least 0.10m from the golden award with orange edges, then hand it over.",
+    "Take the handheld microphone with the left arm, route it away from the glossy yellow trophy with base, then hand it to the right arm.",
+    "Using the left arm, take the microphone with rounded mesh head and hand to the right arm, keeping 0.10m from the two-handled prize trophy.",
+    "Take the microphone with rounded mesh head with the left arm, hand over to the right arm, keep the microphone with rounded mesh head 0.10m away from the trophy cup."
+  ],
+  "unseen": [
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the golden trophy with round base by 0.10m.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the hand-sized shiny gold trophy, hand to the right arm.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the golden trophy with round base.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the golden trophy with round base.",
+    "Pick up the lightweight handheld microphone, avoid the yellow cup with round stand by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the yellow cup with round stand.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the golden trophy with round base by 0.10m.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the yellow cup with round stand, hand to the right arm.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the golden trophy with round base.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the golden trophy with round base.",
+    "Pick up the black and white plastic microphone, avoid the hand-sized shiny gold trophy by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the hand-sized shiny gold trophy.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the yellow cup with round stand by 0.10m.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the golden trophy with round base, hand to the right arm.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the golden trophy with round base.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the hand-sized shiny gold trophy.",
+    "Pick up the microphone used for audio input, avoid the hand-sized shiny gold trophy by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the golden trophy with round base.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the yellow cup with round stand by 0.10m.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the yellow cup with round stand, hand to the right arm.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the yellow cup with round stand.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the hand-sized shiny gold trophy.",
+    "Pick up the lightweight handheld microphone, avoid the golden trophy with round base by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the yellow cup with round stand.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the yellow cup with round stand by 0.10m.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the yellow cup with round stand, hand to the right arm.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the hand-sized shiny gold trophy.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the yellow cup with round stand.",
+    "Pick up the lightweight handheld microphone, avoid the yellow cup with round stand by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the yellow cup with round stand.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the golden trophy with round base by 0.10m.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the yellow cup with round stand, hand to the right arm.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the yellow cup with round stand.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the yellow cup with round stand.",
+    "Pick up the lightweight handheld microphone, avoid the yellow cup with round stand by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the golden trophy with round base.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the yellow cup with round stand by 0.10m.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the golden trophy with round base, hand to the right arm.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the golden trophy with round base.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the golden trophy with round base.",
+    "Pick up the black and white plastic microphone, avoid the hand-sized shiny gold trophy by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the hand-sized shiny gold trophy.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the golden trophy with round base by 0.10m.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the yellow cup with round stand, hand to the right arm.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the golden trophy with round base.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the hand-sized shiny gold trophy.",
+    "Pick up the microphone used for audio input, avoid the golden trophy with round base by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the golden trophy with round base.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the golden trophy with round base by 0.10m.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the yellow cup with round stand, hand to the right arm.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the golden trophy with round base.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the yellow cup with round stand.",
+    "Pick up the microphone used for audio input, avoid the hand-sized shiny gold trophy by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the yellow cup with round stand.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the yellow cup with round stand by 0.10m.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the golden trophy with round base, hand to the right arm.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the yellow cup with round stand.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the golden trophy with round base.",
+    "Pick up the lightweight handheld microphone, avoid the yellow cup with round stand by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the golden trophy with round base.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the golden trophy with round base by 0.10m.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the yellow cup with round stand, hand to the right arm.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the yellow cup with round stand.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the yellow cup with round stand.",
+    "Pick up the black and white plastic microphone, avoid the golden trophy with round base by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the hand-sized shiny gold trophy.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the golden trophy with round base by 0.10m.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the golden trophy with round base, hand to the right arm.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the yellow cup with round stand.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the yellow cup with round stand.",
+    "Pick up the lightweight handheld microphone, avoid the hand-sized shiny gold trophy by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the yellow cup with round stand.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the golden trophy with round base by 0.10m.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the hand-sized shiny gold trophy, hand to the right arm.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the golden trophy with round base.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the hand-sized shiny gold trophy.",
+    "Pick up the microphone used for audio input, avoid the golden trophy with round base by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the hand-sized shiny gold trophy.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the yellow cup with round stand by 0.10m.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the hand-sized shiny gold trophy, hand to the right arm.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the yellow cup with round stand.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the yellow cup with round stand.",
+    "Pick up the black and white plastic microphone, avoid the hand-sized shiny gold trophy by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the golden trophy with round base.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the golden trophy with round base by 0.10m.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the hand-sized shiny gold trophy, hand to the right arm.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the golden trophy with round base.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the golden trophy with round base.",
+    "Pick up the lightweight handheld microphone, avoid the hand-sized shiny gold trophy by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the golden trophy with round base.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the hand-sized shiny gold trophy by 0.10m.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the yellow cup with round stand, hand to the right arm.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the golden trophy with round base.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the hand-sized shiny gold trophy.",
+    "Pick up the microphone used for audio input, avoid the hand-sized shiny gold trophy by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the yellow cup with round stand.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the yellow cup with round stand by 0.10m.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the yellow cup with round stand, hand to the right arm.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the golden trophy with round base.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the hand-sized shiny gold trophy."
+  ]
+}
\ No newline at end of file
diff --git a/handover_mic_wp1/handover_mic_wp1/instructions/episode59.json b/handover_mic_wp1/handover_mic_wp1/instructions/episode59.json
new file mode 100644
index 0000000000000000000000000000000000000000..e4c039bd317c8a009fbba937585b42e547e65dd1
--- /dev/null
+++ b/handover_mic_wp1/handover_mic_wp1/instructions/episode59.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With the left arm, grasp the microphone with textured metal head, then hand the microphone with textured metal head to the right arm, avoiding the two-handled golden trophy.",
+    "Pick up the mesh-patterned microphone head with the left arm, transfer to the right arm, stay away from the trophy with two side handles.",
+    "Take the microphone with textured metal head with the left arm, hand over to the right arm, keep the microphone with textured metal head 0.10m away from the medium-sized prize trophy.",
+    "Have the left arm grasp the microphone with textured metal head, avoid the two-handled golden trophy by 0.10m, and transfer the microphone with textured metal head to the right arm.",
+    "Lift the compact size microphone with the left arm, give the compact size microphone to the right arm, keep clear of the centerpiece gold trophy on sturdy base 0.10m.",
+    "Move the handheld microphone from the left arm to the right arm while keeping clear of the gold cup on black base.",
+    "Lift the smooth plastic microphone handle, keep it 0.10m away from the medium-sized prize trophy, then pass it across.",
+    "Use the left arm to lift the compact size microphone, then give the compact size microphone to the right arm, avoiding the trophy with smooth polished finish by 0.10m.",
+    "Get the compact size microphone with the left arm, shift the compact size microphone to the right arm, maintaining 0.10m from the trophy with two side handles.",
+    "Secure the handheld microphone, route it at least 0.10m from the award trophy with black platform, then hand it over.",
+    "Pick up the smooth plastic microphone handle, move it staying 0.10m from the shiny gold trophy with black stand, then complete the handoff.",
+    "With the left arm, take the metal head microphone, keep distance from the trophy with detailed top and base, and give the metal head microphone to the right arm.",
+    "Grab the white microphone handle black accents, carry it around the two-handled golden trophy with 0.10m clearance, then hand over.",
+    "Have the left arm take the microphone for voice recording, then the right arm takes the microphone for voice recording, keep 0.10m from the ornate gold cup.",
+    "Take the microphone for voice recording with the left arm, route it away from the medium-sized prize trophy, then hand it to the right arm.",
+    "Pick up the microphone with rounded mesh head using the left arm, transfer to the right arm, keep 0.10m from the two-handled golden trophy.",
+    "Let the left arm grasp the black and white microphone, move it 0.10m from the two-handled golden trophy, then the right arm receives.",
+    "Using the left arm, take the microphone with rounded mesh head and hand to the right arm, keeping 0.10m from the centerpiece gold trophy on sturdy base.",
+    "Using the left arm, grab the microphone with textured metal head, keep 0.10m from the ornate gold cup, then give the microphone with textured metal head to the right arm.",
+    "Take the smooth plastic microphone handle using the left arm, keep away from the gold trophy, and pass to the right arm.",
+    "With the left arm, grasp the microphone with cylindrical handle, then hand the microphone with cylindrical handle to the right arm, avoiding the trophy with detailed top and base.",
+    "Pick up the microphone with textured metal head with the left arm, transfer to the right arm, stay away from the centerpiece gold trophy on sturdy base.",
+    "Take the microphone with textured metal head with the left arm, hand over to the right arm, keep the microphone with textured metal head 0.10m away from the gold cup on black base.",
+    "Have the left arm grasp the compact size microphone, avoid the centerpiece gold trophy on sturdy base by 0.10m, and transfer the compact size microphone to the right arm.",
+    "Lift the microphone for voice recording with the left arm, give the microphone for voice recording to the right arm, keep clear of the award trophy with black platform 0.10m.",
+    "Move the mesh-patterned microphone head from the left arm to the right arm while keeping clear of the gold cup on black base.",
+    "Lift the black and white microphone, keep it 0.10m away from the two-handled golden trophy, then pass it across.",
+    "Use the left arm to lift the microphone with rounded mesh head, then give the microphone with rounded mesh head to the right arm, avoiding the trophy with detailed top and base by 0.10m.",
+    "Get the mesh-patterned microphone head with the left arm, shift the mesh-patterned microphone head to the right arm, maintaining 0.10m from the medium-sized prize trophy.",
+    "Secure the white microphone handle black accents, route it at least 0.10m from the trophy with smooth polished finish, then hand it over.",
+    "Pick up the microphone for voice recording, move it staying 0.10m from the gold cup on black base, then complete the handoff.",
+    "With the left arm, take the metal head microphone, keep distance from the shiny gold trophy with black stand, and give the metal head microphone to the right arm.",
+    "Grab the microphone with rounded mesh head, carry it around the award trophy with black platform with 0.10m clearance, then hand over.",
+    "Have the left arm take the black and white microphone, then the right arm takes the black and white microphone, keep 0.10m from the gold trophy.",
+    "Take the microphone with rounded mesh head with the left arm, route it away from the ornate gold cup, then hand it to the right arm.",
+    "Pick up the handheld microphone using the left arm, transfer to the right arm, keep 0.10m from the shiny gold trophy with black stand.",
+    "Let the left arm grasp the metal head microphone, move it 0.10m from the award trophy with black platform, then the right arm receives.",
+    "Using the left arm, take the compact size microphone and hand to the right arm, keeping 0.10m from the two-handled golden trophy.",
+    "Using the left arm, grab the microphone for voice recording, keep 0.10m from the trophy with smooth polished finish, then give the microphone for voice recording to the right arm.",
+    "Take the mesh-patterned microphone head using the left arm, keep away from the gold and black prize cup, and pass to the right arm.",
+    "With the left arm, grasp the microphone for voice recording, then hand the microphone for voice recording to the right arm, avoiding the trophy with two side handles.",
+    "Pick up the metal head microphone with the left arm, transfer to the right arm, stay away from the shiny gold trophy with black stand.",
+    "Take the microphone for voice recording with the left arm, hand over to the right arm, keep the microphone for voice recording 0.10m away from the ornate gold cup.",
+    "Have the left arm grasp the microphone with rounded mesh head, avoid the gold cup on black base by 0.10m, and transfer the microphone with rounded mesh head to the right arm.",
+    "Lift the microphone for voice recording with the left arm, give the microphone for voice recording to the right arm, keep clear of the gold trophy 0.10m.",
+    "Move the microphone with cylindrical handle from the left arm to the right arm while keeping clear of the medium-sized prize trophy.",
+    "Lift the microphone with black tip and white body, keep it 0.10m away from the trophy with smooth polished finish, then pass it across.",
+    "Use the left arm to lift the microphone with textured metal head, then give the microphone with textured metal head to the right arm, avoiding the medium-sized prize trophy by 0.10m.",
+    "Get the black and white microphone with the left arm, shift the black and white microphone to the right arm, maintaining 0.10m from the two-handled golden trophy.",
+    "Secure the microphone with cylindrical handle, route it at least 0.10m from the trophy with smooth polished finish, then hand it over.",
+    "Pick up the microphone with rounded mesh head, move it staying 0.10m from the shiny gold trophy with black stand, then complete the handoff.",
+    "With the left arm, take the microphone with black tip and white body, keep distance from the gold trophy, and give the microphone with black tip and white body to the right arm.",
+    "Grab the handheld microphone, carry it around the gold trophy with 0.10m clearance, then hand over.",
+    "Have the left arm take the microphone for voice recording, then the right arm takes the microphone for voice recording, keep 0.10m from the trophy with smooth polished finish.",
+    "Take the smooth plastic microphone handle with the left arm, route it away from the two-handled golden trophy, then hand it to the right arm.",
+    "Pick up the microphone for voice recording using the left arm, transfer to the right arm, keep 0.10m from the award trophy with black platform.",
+    "Let the left arm grasp the microphone with textured metal head, move it 0.10m from the two-handled golden trophy, then the right arm receives.",
+    "Using the left arm, take the white microphone handle black accents and hand to the right arm, keeping 0.10m from the shiny gold trophy with black stand.",
+    "Using the left arm, grab the smooth plastic microphone handle, keep 0.10m from the medium-sized prize trophy, then give the smooth plastic microphone handle to the right arm.",
+    "Take the microphone with rounded mesh head using the left arm, keep away from the trophy with smooth polished finish, and pass to the right arm.",
+    "With the left arm, grasp the metal head microphone, then hand the metal head microphone to the right arm, avoiding the medium-sized prize trophy.",
+    "Pick up the microphone with rounded mesh head with the left arm, transfer to the right arm, stay away from the gold cup on black base.",
+    "Take the microphone for voice recording with the left arm, hand over to the right arm, keep the microphone for voice recording 0.10m away from the shiny gold trophy with black stand.",
+    "Have the left arm grasp the mesh-patterned microphone head, avoid the ornate gold cup by 0.10m, and transfer the mesh-patterned microphone head to the right arm.",
+    "Lift the handheld microphone with the left arm, give the handheld microphone to the right arm, keep clear of the shiny gold trophy with black stand 0.10m.",
+    "Move the white microphone handle black accents from the left arm to the right arm while keeping clear of the shiny gold trophy with black stand.",
+    "Lift the black and white microphone, keep it 0.10m away from the medium-sized prize trophy, then pass it across.",
+    "Use the left arm to lift the smooth plastic microphone handle, then give the smooth plastic microphone handle to the right arm, avoiding the medium-sized prize trophy by 0.10m.",
+    "Get the microphone with cylindrical handle with the left arm, shift the microphone with cylindrical handle to the right arm, maintaining 0.10m from the ornate gold cup.",
+    "Secure the black and white microphone, route it at least 0.10m from the trophy with two side handles, then hand it over.",
+    "Pick up the microphone with rounded mesh head, move it staying 0.10m from the gold cup on black base, then complete the handoff.",
+    "With the left arm, take the microphone with rounded mesh head, keep distance from the gold and black prize cup, and give the microphone with rounded mesh head to the right arm.",
+    "Grab the microphone with black tip and white body, carry it around the medium-sized prize trophy with 0.10m clearance, then hand over.",
+    "Have the left arm take the white microphone handle black accents, then the right arm takes the white microphone handle black accents, keep 0.10m from the trophy with smooth polished finish.",
+    "Take the mesh-patterned microphone head with the left arm, route it away from the gold and black prize cup, then hand it to the right arm.",
+    "Pick up the handheld microphone using the left arm, transfer to the right arm, keep 0.10m from the shiny gold trophy with black stand.",
+    "Let the left arm grasp the microphone for voice recording, move it 0.10m from the award trophy with black platform, then the right arm receives.",
+    "Using the left arm, take the compact size microphone and hand to the right arm, keeping 0.10m from the centerpiece gold trophy on sturdy base.",
+    "Using the left arm, grab the microphone with rounded mesh head, keep 0.10m from the centerpiece gold trophy on sturdy base, then give the microphone with rounded mesh head to the right arm.",
+    "Take the handheld microphone using the left arm, keep away from the trophy with detailed top and base, and pass to the right arm.",
+    "With the left arm, grasp the microphone with black tip and white body, then hand the microphone with black tip and white body to the right arm, avoiding the trophy with detailed top and base.",
+    "Pick up the compact size microphone with the left arm, transfer to the right arm, stay away from the gold trophy.",
+    "Take the compact size microphone with the left arm, hand over to the right arm, keep the compact size microphone 0.10m away from the award trophy with black platform.",
+    "Have the left arm grasp the smooth plastic microphone handle, avoid the ornate gold cup by 0.10m, and transfer the smooth plastic microphone handle to the right arm.",
+    "Lift the smooth plastic microphone handle with the left arm, give the smooth plastic microphone handle to the right arm, keep clear of the two-handled golden trophy 0.10m.",
+    "Move the microphone with textured metal head from the left arm to the right arm while keeping clear of the gold and black prize cup.",
+    "Lift the white microphone handle black accents, keep it 0.10m away from the gold and black prize cup, then pass it across.",
+    "Use the left arm to lift the microphone with black tip and white body, then give the microphone with black tip and white body to the right arm, avoiding the award trophy with black platform by 0.10m.",
+    "Get the mesh-patterned microphone head with the left arm, shift the mesh-patterned microphone head to the right arm, maintaining 0.10m from the centerpiece gold trophy on sturdy base.",
+    "Secure the compact size microphone, route it at least 0.10m from the two-handled golden trophy, then hand it over.",
+    "Pick up the microphone with textured metal head, move it staying 0.10m from the shiny gold trophy with black stand, then complete the handoff.",
+    "With the left arm, take the handheld microphone, keep distance from the medium-sized prize trophy, and give the handheld microphone to the right arm.",
+    "Grab the handheld microphone, carry it around the shiny gold trophy with black stand with 0.10m clearance, then hand over.",
+    "Have the left arm take the black and white microphone, then the right arm takes the black and white microphone, keep 0.10m from the trophy with two side handles.",
+    "Take the compact size microphone with the left arm, route it away from the centerpiece gold trophy on sturdy base, then hand it to the right arm.",
+    "Pick up the white microphone handle black accents using the left arm, transfer to the right arm, keep 0.10m from the medium-sized prize trophy.",
+    "Let the left arm grasp the mesh-patterned microphone head, move it 0.10m from the gold and black prize cup, then the right arm receives.",
+    "Using the left arm, take the microphone with cylindrical handle and hand to the right arm, keeping 0.10m from the gold cup on black base.",
+    "Using the left arm, grab the compact size microphone, keep 0.10m from the trophy with two side handles, then give the compact size microphone to the right arm.",
+    "Take the microphone with rounded mesh head using the left arm, keep away from the award trophy with black platform, and pass to the right arm."
+  ],
+  "unseen": [
+    "Pick up the microphone used for audio input, avoid the trophy cup with curved handles by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the smooth gold cup, hand to the right arm.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the golden award cup.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the golden award cup.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the smooth gold cup by 0.10m.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the golden award cup.",
+    "Pick up the lightweight handheld microphone, avoid the smooth gold cup by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the trophy cup with curved handles, hand to the right arm.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the golden award cup.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the golden award cup.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the trophy cup with curved handles.",
+    "Pick up the black and white plastic microphone, avoid the trophy cup with curved handles by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the smooth gold cup, hand to the right arm.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the smooth gold cup.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the smooth gold cup.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the golden award cup.",
+    "Pick up the microphone used for audio input, avoid the golden award cup by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the trophy cup with curved handles, hand to the right arm.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the smooth gold cup.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the golden award cup.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the smooth gold cup by 0.10m.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the smooth gold cup.",
+    "Pick up the lightweight handheld microphone, avoid the golden award cup by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the smooth gold cup, hand to the right arm.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the smooth gold cup.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the trophy cup with curved handles.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the smooth gold cup by 0.10m.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the golden award cup.",
+    "Pick up the microphone used for audio input, avoid the golden award cup by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the smooth gold cup, hand to the right arm.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the trophy cup with curved handles.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the golden award cup.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the golden award cup.",
+    "Pick up the black and white plastic microphone, avoid the trophy cup with curved handles by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the trophy cup with curved handles, hand to the right arm.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the trophy cup with curved handles.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the trophy cup with curved handles.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the golden award cup by 0.10m.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the golden award cup.",
+    "Pick up the lightweight handheld microphone, avoid the golden award cup by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the golden award cup, hand to the right arm.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the smooth gold cup.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the golden award cup.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the golden award cup by 0.10m.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the smooth gold cup.",
+    "Pick up the black and white plastic microphone, avoid the trophy cup with curved handles by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the trophy cup with curved handles, hand to the right arm.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the golden award cup.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the trophy cup with curved handles.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the smooth gold cup by 0.10m.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the golden award cup.",
+    "Pick up the black and white plastic microphone, avoid the golden award cup by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the trophy cup with curved handles, hand to the right arm.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the golden award cup.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the golden award cup.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the golden award cup.",
+    "Pick up the lightweight handheld microphone, avoid the trophy cup with curved handles by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the golden award cup, hand to the right arm.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the golden award cup.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the trophy cup with curved handles.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the smooth gold cup.",
+    "Pick up the black and white plastic microphone, avoid the golden award cup by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the golden award cup, hand to the right arm.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the golden award cup.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the golden award cup.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the smooth gold cup.",
+    "Pick up the black and white plastic microphone, avoid the trophy cup with curved handles by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the smooth gold cup, hand to the right arm.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the trophy cup with curved handles.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the trophy cup with curved handles.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the smooth gold cup by 0.10m.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the smooth gold cup.",
+    "Pick up the microphone used for audio input, avoid the trophy cup with curved handles by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the golden award cup, hand to the right arm.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the trophy cup with curved handles.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the golden award cup.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the smooth gold cup.",
+    "Pick up the microphone used for audio input, avoid the smooth gold cup by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the golden award cup, hand to the right arm.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the smooth gold cup.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the trophy cup with curved handles.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the golden award cup.",
+    "Pick up the microphone used for audio input, avoid the trophy cup with curved handles by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the golden award cup, hand to the right arm.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the smooth gold cup.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the trophy cup with curved handles.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the smooth gold cup by 0.10m.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the trophy cup with curved handles.",
+    "Pick up the lightweight handheld microphone, avoid the trophy cup with curved handles by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the golden award cup, hand to the right arm.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the smooth gold cup.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the smooth gold cup."
+  ]
+}
\ No newline at end of file
diff --git a/handover_mic_wp1/handover_mic_wp1/instructions/episode6.json b/handover_mic_wp1/handover_mic_wp1/instructions/episode6.json
new file mode 100644
index 0000000000000000000000000000000000000000..b956513d35c0e7d6e9ce0cc5f98082f253861116
--- /dev/null
+++ b/handover_mic_wp1/handover_mic_wp1/instructions/episode6.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Secure the smooth plastic microphone handle, route it at least 0.10m from the golden cup with curved handles, then hand it over.",
+    "Take the handheld microphone with the left arm, hand over to the right arm, keep the handheld microphone 0.10m away from the award trophy with two handles.",
+    "Take the compact size microphone using the left arm, keep away from the trophy with sleek golden finish, and pass to the right arm.",
+    "Let the left arm grasp the microphone for voice recording, move it 0.10m from the award trophy with two handles, then the right arm receives.",
+    "Have the left arm grasp the black and white microphone, avoid the trophy with sleek golden finish by 0.10m, and transfer the black and white microphone to the right arm.",
+    "Lift the mesh-patterned microphone head, keep it 0.10m away from the trophy with sleek golden finish, then pass it across.",
+    "Pick up the smooth plastic microphone handle with the left arm, transfer to the right arm, stay away from the smooth metallic cup with flat bottom.",
+    "Get the microphone with cylindrical handle with the left arm, shift the microphone with cylindrical handle to the right arm, maintaining 0.10m from the metallic yellow cup-shaped trophy.",
+    "Grab the microphone with cylindrical handle, carry it around the golden cup with curved handles with 0.10m clearance, then hand over.",
+    "With the left arm, grasp the mesh-patterned microphone head, then hand the mesh-patterned microphone head to the right arm, avoiding the tall award trophy with glossy surface.",
+    "Using the left arm, grab the handheld microphone, keep 0.10m from the shiny yellow trophy, then give the handheld microphone to the right arm.",
+    "Pick up the smooth plastic microphone handle using the left arm, transfer to the right arm, keep 0.10m from the shiny trophy for winning competitions.",
+    "Move the microphone for voice recording from the left arm to the right arm while keeping clear of the tall yellow trophy with small neck.",
+    "With the left arm, take the microphone with rounded mesh head, keep distance from the smooth metallic cup with flat bottom, and give the microphone with rounded mesh head to the right arm.",
+    "Lift the microphone for voice recording with the left arm, give the microphone for voice recording to the right arm, keep clear of the trophy with sleek golden finish 0.10m.",
+    "Have the left arm take the white microphone handle black accents, then the right arm takes the white microphone handle black accents, keep 0.10m from the smooth metallic cup with flat bottom.",
+    "Take the microphone with textured metal head with the left arm, route it away from the shiny yellow trophy, then hand it to the right arm.",
+    "Use the left arm to lift the black and white microphone, then give the black and white microphone to the right arm, avoiding the shiny trophy for winning competitions by 0.10m.",
+    "Pick up the microphone with cylindrical handle, move it staying 0.10m from the award trophy with two handles, then complete the handoff.",
+    "Using the left arm, take the mesh-patterned microphone head and hand to the right arm, keeping 0.10m from the trophy with sleek golden finish.",
+    "Secure the compact size microphone, route it at least 0.10m from the trophy with sleek golden finish, then hand it over.",
+    "Take the microphone with textured metal head with the left arm, hand over to the right arm, keep the microphone with textured metal head 0.10m away from the shiny trophy for winning competitions.",
+    "Take the microphone for voice recording using the left arm, keep away from the shiny yellow trophy, and pass to the right arm.",
+    "Let the left arm grasp the black and white microphone, move it 0.10m from the shiny yellow trophy, then the right arm receives.",
+    "Have the left arm grasp the compact size microphone, avoid the tall yellow trophy with small neck by 0.10m, and transfer the compact size microphone to the right arm.",
+    "Lift the microphone with black tip and white body, keep it 0.10m away from the golden cup with curved handles, then pass it across.",
+    "Pick up the microphone with black tip and white body with the left arm, transfer to the right arm, stay away from the metallic yellow cup-shaped trophy.",
+    "Get the white microphone handle black accents with the left arm, shift the white microphone handle black accents to the right arm, maintaining 0.10m from the tall award trophy with glossy surface.",
+    "Grab the microphone for voice recording, carry it around the golden yellow cup-shaped prize trophy with 0.10m clearance, then hand over.",
+    "With the left arm, grasp the microphone with textured metal head, then hand the microphone with textured metal head to the right arm, avoiding the tall award trophy with glossy surface.",
+    "Using the left arm, grab the white microphone handle black accents, keep 0.10m from the tall yellow trophy with small neck, then give the white microphone handle black accents to the right arm.",
+    "Pick up the microphone with cylindrical handle using the left arm, transfer to the right arm, keep 0.10m from the shiny trophy for winning competitions.",
+    "Move the mesh-patterned microphone head from the left arm to the right arm while keeping clear of the golden yellow cup-shaped prize trophy.",
+    "With the left arm, take the mesh-patterned microphone head, keep distance from the golden cup with curved handles, and give the mesh-patterned microphone head to the right arm.",
+    "Lift the white microphone handle black accents with the left arm, give the white microphone handle black accents to the right arm, keep clear of the golden cup with curved handles 0.10m.",
+    "Have the left arm take the metal head microphone, then the right arm takes the metal head microphone, keep 0.10m from the golden cup with curved handles.",
+    "Take the compact size microphone with the left arm, route it away from the tall award trophy with glossy surface, then hand it to the right arm.",
+    "Use the left arm to lift the white microphone handle black accents, then give the white microphone handle black accents to the right arm, avoiding the tall yellow trophy with small neck by 0.10m.",
+    "Pick up the microphone with black tip and white body, move it staying 0.10m from the achievement cup with curved side handles, then complete the handoff.",
+    "Using the left arm, take the compact size microphone and hand to the right arm, keeping 0.10m from the shiny trophy for winning competitions.",
+    "Secure the black and white microphone, route it at least 0.10m from the golden yellow cup-shaped prize trophy, then hand it over.",
+    "Take the microphone with black tip and white body with the left arm, hand over to the right arm, keep the microphone with black tip and white body 0.10m away from the achievement cup with curved side handles.",
+    "Take the smooth plastic microphone handle using the left arm, keep away from the tall award trophy with glossy surface, and pass to the right arm.",
+    "Let the left arm grasp the black and white microphone, move it 0.10m from the golden cup with curved handles, then the right arm receives.",
+    "Have the left arm grasp the mesh-patterned microphone head, avoid the achievement cup with curved side handles by 0.10m, and transfer the mesh-patterned microphone head to the right arm.",
+    "Lift the white microphone handle black accents, keep it 0.10m away from the tall yellow trophy with small neck, then pass it across.",
+    "Pick up the microphone for voice recording with the left arm, transfer to the right arm, stay away from the achievement cup with curved side handles.",
+    "Get the microphone for voice recording with the left arm, shift the microphone for voice recording to the right arm, maintaining 0.10m from the golden yellow cup-shaped prize trophy.",
+    "Grab the white microphone handle black accents, carry it around the trophy with sleek golden finish with 0.10m clearance, then hand over.",
+    "With the left arm, grasp the microphone for voice recording, then hand the microphone for voice recording to the right arm, avoiding the tall award trophy with glossy surface.",
+    "Using the left arm, grab the handheld microphone, keep 0.10m from the golden trophy, then give the handheld microphone to the right arm.",
+    "Pick up the smooth plastic microphone handle using the left arm, transfer to the right arm, keep 0.10m from the trophy with sleek golden finish.",
+    "Move the smooth plastic microphone handle from the left arm to the right arm while keeping clear of the tall yellow trophy with small neck.",
+    "With the left arm, take the metal head microphone, keep distance from the smooth metallic cup with flat bottom, and give the metal head microphone to the right arm.",
+    "Lift the microphone with textured metal head with the left arm, give the microphone with textured metal head to the right arm, keep clear of the tall award trophy with glossy surface 0.10m.",
+    "Have the left arm take the microphone with textured metal head, then the right arm takes the microphone with textured metal head, keep 0.10m from the golden yellow cup-shaped prize trophy.",
+    "Take the mesh-patterned microphone head with the left arm, route it away from the smooth metallic cup with flat bottom, then hand it to the right arm.",
+    "Use the left arm to lift the microphone with cylindrical handle, then give the microphone with cylindrical handle to the right arm, avoiding the shiny yellow trophy by 0.10m.",
+    "Pick up the microphone with rounded mesh head, move it staying 0.10m from the shiny trophy for winning competitions, then complete the handoff.",
+    "Using the left arm, take the white microphone handle black accents and hand to the right arm, keeping 0.10m from the trophy with sleek golden finish.",
+    "Secure the black and white microphone, route it at least 0.10m from the tall yellow trophy with small neck, then hand it over.",
+    "Take the handheld microphone with the left arm, hand over to the right arm, keep the handheld microphone 0.10m away from the shiny trophy for winning competitions.",
+    "Take the microphone with cylindrical handle using the left arm, keep away from the golden cup with curved handles, and pass to the right arm.",
+    "Let the left arm grasp the compact size microphone, move it 0.10m from the achievement cup with curved side handles, then the right arm receives.",
+    "Have the left arm grasp the smooth plastic microphone handle, avoid the metallic yellow cup-shaped trophy by 0.10m, and transfer the smooth plastic microphone handle to the right arm.",
+    "Lift the microphone with rounded mesh head, keep it 0.10m away from the golden cup with curved handles, then pass it across.",
+    "Pick up the handheld microphone with the left arm, transfer to the right arm, stay away from the golden cup with curved handles.",
+    "Get the handheld microphone with the left arm, shift the handheld microphone to the right arm, maintaining 0.10m from the metallic yellow cup-shaped trophy.",
+    "Grab the white microphone handle black accents, carry it around the trophy with sleek golden finish with 0.10m clearance, then hand over.",
+    "With the left arm, grasp the smooth plastic microphone handle, then hand the smooth plastic microphone handle to the right arm, avoiding the achievement cup with curved side handles.",
+    "Using the left arm, grab the white microphone handle black accents, keep 0.10m from the shiny trophy for winning competitions, then give the white microphone handle black accents to the right arm.",
+    "Pick up the white microphone handle black accents using the left arm, transfer to the right arm, keep 0.10m from the smooth metallic cup with flat bottom.",
+    "Move the handheld microphone from the left arm to the right arm while keeping clear of the achievement cup with curved side handles.",
+    "With the left arm, take the microphone for voice recording, keep distance from the shiny yellow trophy, and give the microphone for voice recording to the right arm.",
+    "Lift the white microphone handle black accents with the left arm, give the white microphone handle black accents to the right arm, keep clear of the shiny trophy for winning competitions 0.10m.",
+    "Have the left arm take the mesh-patterned microphone head, then the right arm takes the mesh-patterned microphone head, keep 0.10m from the shiny trophy for winning competitions.",
+    "Take the metal head microphone with the left arm, route it away from the golden yellow cup-shaped prize trophy, then hand it to the right arm.",
+    "Use the left arm to lift the microphone with textured metal head, then give the microphone with textured metal head to the right arm, avoiding the tall yellow trophy with small neck by 0.10m.",
+    "Pick up the smooth plastic microphone handle, move it staying 0.10m from the trophy with sleek golden finish, then complete the handoff.",
+    "Using the left arm, take the metal head microphone and hand to the right arm, keeping 0.10m from the trophy with sleek golden finish.",
+    "Secure the microphone for voice recording, route it at least 0.10m from the tall award trophy with glossy surface, then hand it over.",
+    "Take the black and white microphone with the left arm, hand over to the right arm, keep the black and white microphone 0.10m away from the achievement cup with curved side handles.",
+    "Take the white microphone handle black accents using the left arm, keep away from the award trophy with two handles, and pass to the right arm.",
+    "Let the left arm grasp the microphone with rounded mesh head, move it 0.10m from the tall yellow trophy with small neck, then the right arm receives.",
+    "Have the left arm grasp the handheld microphone, avoid the shiny yellow trophy by 0.10m, and transfer the handheld microphone to the right arm.",
+    "Lift the black and white microphone, keep it 0.10m away from the shiny yellow trophy, then pass it across.",
+    "Pick up the smooth plastic microphone handle with the left arm, transfer to the right arm, stay away from the metallic yellow cup-shaped trophy.",
+    "Get the microphone with rounded mesh head with the left arm, shift the microphone with rounded mesh head to the right arm, maintaining 0.10m from the achievement cup with curved side handles.",
+    "Grab the microphone for voice recording, carry it around the award trophy with two handles with 0.10m clearance, then hand over.",
+    "With the left arm, grasp the white microphone handle black accents, then hand the white microphone handle black accents to the right arm, avoiding the smooth metallic cup with flat bottom.",
+    "Using the left arm, grab the microphone with black tip and white body, keep 0.10m from the shiny yellow trophy, then give the microphone with black tip and white body to the right arm.",
+    "Pick up the handheld microphone using the left arm, transfer to the right arm, keep 0.10m from the tall yellow trophy with small neck.",
+    "Move the white microphone handle black accents from the left arm to the right arm while keeping clear of the golden cup with curved handles.",
+    "With the left arm, take the microphone with rounded mesh head, keep distance from the golden trophy, and give the microphone with rounded mesh head to the right arm.",
+    "Lift the handheld microphone with the left arm, give the handheld microphone to the right arm, keep clear of the tall award trophy with glossy surface 0.10m.",
+    "Have the left arm take the handheld microphone, then the right arm takes the handheld microphone, keep 0.10m from the smooth metallic cup with flat bottom.",
+    "Take the mesh-patterned microphone head with the left arm, route it away from the golden yellow cup-shaped prize trophy, then hand it to the right arm.",
+    "Use the left arm to lift the metal head microphone, then give the metal head microphone to the right arm, avoiding the achievement cup with curved side handles by 0.10m.",
+    "Pick up the white microphone handle black accents, move it staying 0.10m from the golden trophy, then complete the handoff.",
+    "Using the left arm, take the handheld microphone and hand to the right arm, keeping 0.10m from the metallic yellow cup-shaped trophy."
+  ],
+  "unseen": [
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the smooth trophy with wide base.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the medium-sized golden prize cup.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the prize trophy with sturdy round base.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the medium-sized golden prize cup by 0.10m.",
+    "Pick up the black and white plastic microphone, avoid the medium-sized golden prize cup by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the prize trophy with sturdy round base, hand to the right arm.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the prize trophy with sturdy round base.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the smooth trophy with wide base.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the medium-sized golden prize cup.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the smooth trophy with wide base by 0.10m.",
+    "Pick up the black and white plastic microphone, avoid the medium-sized golden prize cup by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the medium-sized golden prize cup, hand to the right arm.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the medium-sized golden prize cup.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the medium-sized golden prize cup.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the smooth trophy with wide base.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the medium-sized golden prize cup by 0.10m.",
+    "Pick up the microphone used for audio input, avoid the smooth trophy with wide base by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the smooth trophy with wide base, hand to the right arm.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the prize trophy with sturdy round base.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the medium-sized golden prize cup.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the prize trophy with sturdy round base.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the prize trophy with sturdy round base by 0.10m.",
+    "Pick up the lightweight handheld microphone, avoid the medium-sized golden prize cup by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the medium-sized golden prize cup, hand to the right arm.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the prize trophy with sturdy round base.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the prize trophy with sturdy round base.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the medium-sized golden prize cup.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the medium-sized golden prize cup by 0.10m.",
+    "Pick up the microphone used for audio input, avoid the medium-sized golden prize cup by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the smooth trophy with wide base, hand to the right arm.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the smooth trophy with wide base.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the smooth trophy with wide base.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the medium-sized golden prize cup.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the prize trophy with sturdy round base by 0.10m.",
+    "Pick up the lightweight handheld microphone, avoid the medium-sized golden prize cup by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the prize trophy with sturdy round base, hand to the right arm.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the smooth trophy with wide base.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the smooth trophy with wide base.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the prize trophy with sturdy round base.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the smooth trophy with wide base by 0.10m.",
+    "Pick up the microphone used for audio input, avoid the smooth trophy with wide base by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the smooth trophy with wide base, hand to the right arm.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the medium-sized golden prize cup.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the medium-sized golden prize cup.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the medium-sized golden prize cup.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the prize trophy with sturdy round base by 0.10m.",
+    "Pick up the microphone used for audio input, avoid the prize trophy with sturdy round base by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the medium-sized golden prize cup, hand to the right arm.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the prize trophy with sturdy round base.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the smooth trophy with wide base.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the medium-sized golden prize cup.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the smooth trophy with wide base by 0.10m.",
+    "Pick up the black and white plastic microphone, avoid the medium-sized golden prize cup by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the smooth trophy with wide base, hand to the right arm.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the medium-sized golden prize cup.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the smooth trophy with wide base.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the medium-sized golden prize cup.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the smooth trophy with wide base by 0.10m.",
+    "Pick up the microphone used for audio input, avoid the smooth trophy with wide base by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the prize trophy with sturdy round base, hand to the right arm.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the smooth trophy with wide base.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the prize trophy with sturdy round base.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the prize trophy with sturdy round base.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the prize trophy with sturdy round base by 0.10m.",
+    "Pick up the microphone used for audio input, avoid the medium-sized golden prize cup by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the smooth trophy with wide base, hand to the right arm.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the prize trophy with sturdy round base.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the prize trophy with sturdy round base.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the medium-sized golden prize cup.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the medium-sized golden prize cup by 0.10m.",
+    "Pick up the microphone used for audio input, avoid the prize trophy with sturdy round base by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the smooth trophy with wide base, hand to the right arm.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the prize trophy with sturdy round base.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the smooth trophy with wide base.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the medium-sized golden prize cup.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the smooth trophy with wide base by 0.10m.",
+    "Pick up the microphone used for audio input, avoid the prize trophy with sturdy round base by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the smooth trophy with wide base, hand to the right arm.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the smooth trophy with wide base.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the smooth trophy with wide base.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the medium-sized golden prize cup.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the medium-sized golden prize cup by 0.10m.",
+    "Pick up the black and white plastic microphone, avoid the medium-sized golden prize cup by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the medium-sized golden prize cup, hand to the right arm.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the medium-sized golden prize cup.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the smooth trophy with wide base.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the smooth trophy with wide base.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the smooth trophy with wide base by 0.10m.",
+    "Pick up the black and white plastic microphone, avoid the smooth trophy with wide base by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the prize trophy with sturdy round base, hand to the right arm.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the prize trophy with sturdy round base.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the smooth trophy with wide base.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the smooth trophy with wide base.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the prize trophy with sturdy round base by 0.10m.",
+    "Pick up the black and white plastic microphone, avoid the smooth trophy with wide base by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the medium-sized golden prize cup, hand to the right arm.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the smooth trophy with wide base.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the prize trophy with sturdy round base.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the prize trophy with sturdy round base.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the smooth trophy with wide base by 0.10m."
+  ]
+}
\ No newline at end of file
diff --git a/handover_mic_wp1/handover_mic_wp1/instructions/episode60.json b/handover_mic_wp1/handover_mic_wp1/instructions/episode60.json
new file mode 100644
index 0000000000000000000000000000000000000000..02bcaa2445fd61bb3f6bebfe8d70be7788c171c0
--- /dev/null
+++ b/handover_mic_wp1/handover_mic_wp1/instructions/episode60.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the rounded white tip microphone with the right arm, give the rounded white tip microphone to the left arm, keep clear of the shiny trophy with top knob 0.10m.",
+    "Let the right arm grasp the compact teal and white microphone, move it 0.10m from the black bottom trophy with smooth finish, then the left arm receives.",
+    "Get the rounded white tip microphone with the right arm, shift the rounded white tip microphone to the left arm, maintaining 0.10m from the golden award trophy with black base.",
+    "Have the right arm take the long microphone with smooth teal grip, then the left arm takes the long microphone with smooth teal grip, keep 0.10m from the trophy cup with curved sides.",
+    "Take the white and teal sound microphone with the right arm, hand over to the left arm, keep the white and teal sound microphone 0.10m away from the golden award trophy with black base.",
+    "Take the textured white microphone head using the right arm, keep away from the golden award trophy with black base, and pass to the left arm.",
+    "Pick up the teal microphone using the right arm, transfer to the left arm, keep 0.10m from the medium-sized golden trophy.",
+    "Lift the microphone with slider switch, keep it 0.10m away from the black bottom trophy with smooth finish, then pass it across.",
+    "Pick up the handheld teal microphone, move it staying 0.10m from the shiny trophy with top knob, then complete the handoff.",
+    "Using the right arm, take the microphone with white rounded head and hand to the left arm, keeping 0.10m from the trophy with dangling ribbons.",
+    "Take the compact teal and white microphone with the right arm, route it away from the medium trophy with gold and black colors, then hand it to the left arm.",
+    "Using the right arm, grab the microphone with slider switch, keep 0.10m from the medium trophy with gold and black colors, then give the microphone with slider switch to the left arm.",
+    "Grab the sound microphone with teal body, carry it around the cup-shaped trophy with handles with 0.10m clearance, then hand over.",
+    "Pick up the white and teal sound microphone with the right arm, transfer to the left arm, stay away from the gold award cup with two handles.",
+    "Secure the teal microphone, route it at least 0.10m from the trophy with dangling ribbons, then hand it over.",
+    "Move the microphone with white rounded head from the right arm to the left arm while keeping clear of the gold trophy on square black base.",
+    "With the right arm, take the compact teal and white microphone, keep distance from the trophy with dangling ribbons, and give the compact teal and white microphone to the left arm.",
+    "Have the right arm grasp the teal microphone, avoid the medium-sized golden trophy by 0.10m, and transfer the teal microphone to the left arm.",
+    "With the right arm, grasp the long microphone with smooth teal grip, then hand the long microphone with smooth teal grip to the left arm, avoiding the trophy cup with curved sides.",
+    "Use the right arm to lift the microphone with slider switch, then give the microphone with slider switch to the left arm, avoiding the shiny trophy with top knob by 0.10m.",
+    "Lift the rounded white tip microphone with the right arm, give the rounded white tip microphone to the left arm, keep clear of the trophy cup with curved sides 0.10m.",
+    "Let the right arm grasp the handheld teal microphone, move it 0.10m from the gold award cup with two handles, then the left arm receives.",
+    "Get the compact teal and white microphone with the right arm, shift the compact teal and white microphone to the left arm, maintaining 0.10m from the medium-sized golden trophy.",
+    "Have the right arm take the compact teal and white microphone, then the left arm takes the compact teal and white microphone, keep 0.10m from the cup-shaped trophy with handles.",
+    "Take the rounded white tip microphone with the right arm, hand over to the left arm, keep the rounded white tip microphone 0.10m away from the shiny trophy with top knob.",
+    "Take the plastic teal microphone with slider using the right arm, keep away from the cup-shaped trophy with handles, and pass to the left arm.",
+    "Pick up the plastic teal microphone with slider using the right arm, transfer to the left arm, keep 0.10m from the gold trophy on square black base.",
+    "Lift the long microphone with smooth teal grip, keep it 0.10m away from the black bottom trophy with smooth finish, then pass it across.",
+    "Pick up the microphone with white rounded head, move it staying 0.10m from the decorative trophy with curved handles, then complete the handoff.",
+    "Using the right arm, take the white bottom microphone with textured tip and hand to the left arm, keeping 0.10m from the trophy with dangling ribbons.",
+    "Take the white and teal sound microphone with the right arm, route it away from the golden award trophy with black base, then hand it to the left arm.",
+    "Using the right arm, grab the sound microphone with teal body, keep 0.10m from the trophy with dangling ribbons, then give the sound microphone with teal body to the left arm.",
+    "Grab the textured white microphone head, carry it around the gold trophy with 0.10m clearance, then hand over.",
+    "Pick up the microphone with slider switch with the right arm, transfer to the left arm, stay away from the trophy cup with curved sides.",
+    "Secure the long microphone with smooth teal grip, route it at least 0.10m from the cup-shaped trophy with handles, then hand it over.",
+    "Move the white and teal sound microphone from the right arm to the left arm while keeping clear of the medium-sized golden trophy.",
+    "With the right arm, take the rounded white tip microphone, keep distance from the cup-shaped trophy with handles, and give the rounded white tip microphone to the left arm.",
+    "Have the right arm grasp the teal microphone, avoid the gold award cup with two handles by 0.10m, and transfer the teal microphone to the left arm.",
+    "With the right arm, grasp the long microphone with smooth teal grip, then hand the long microphone with smooth teal grip to the left arm, avoiding the gold trophy on square black base.",
+    "Use the right arm to lift the textured white microphone head, then give the textured white microphone head to the left arm, avoiding the decorative trophy with curved handles by 0.10m.",
+    "Lift the microphone with white rounded head with the right arm, give the microphone with white rounded head to the left arm, keep clear of the gold trophy 0.10m.",
+    "Let the right arm grasp the long microphone with smooth teal grip, move it 0.10m from the trophy cup with curved sides, then the left arm receives.",
+    "Get the white bottom microphone with textured tip with the right arm, shift the white bottom microphone with textured tip to the left arm, maintaining 0.10m from the gold trophy.",
+    "Have the right arm take the white and teal sound microphone, then the left arm takes the white and teal sound microphone, keep 0.10m from the medium trophy with gold and black colors.",
+    "Take the handheld teal microphone with the right arm, hand over to the left arm, keep the handheld teal microphone 0.10m away from the golden award trophy with black base.",
+    "Take the plastic teal microphone with slider using the right arm, keep away from the trophy cup with curved sides, and pass to the left arm.",
+    "Pick up the white bottom microphone with textured tip using the right arm, transfer to the left arm, keep 0.10m from the cup-shaped trophy with handles.",
+    "Lift the white and teal sound microphone, keep it 0.10m away from the decorative trophy with curved handles, then pass it across.",
+    "Pick up the handheld teal microphone, move it staying 0.10m from the gold trophy on square black base, then complete the handoff.",
+    "Using the right arm, take the white bottom microphone with textured tip and hand to the left arm, keeping 0.10m from the shiny trophy with top knob.",
+    "Take the white bottom microphone with textured tip with the right arm, route it away from the medium-sized golden trophy, then hand it to the left arm.",
+    "Using the right arm, grab the white bottom microphone with textured tip, keep 0.10m from the shiny trophy with top knob, then give the white bottom microphone with textured tip to the left arm.",
+    "Grab the microphone with white rounded head, carry it around the cup-shaped trophy with handles with 0.10m clearance, then hand over.",
+    "Pick up the microphone with white rounded head with the right arm, transfer to the left arm, stay away from the trophy with dangling ribbons.",
+    "Secure the microphone with slider switch, route it at least 0.10m from the gold trophy, then hand it over.",
+    "Move the plastic teal microphone with slider from the right arm to the left arm while keeping clear of the trophy with dangling ribbons.",
+    "With the right arm, take the microphone with slider switch, keep distance from the medium trophy with gold and black colors, and give the microphone with slider switch to the left arm.",
+    "Have the right arm grasp the sound microphone with teal body, avoid the cup-shaped trophy with handles by 0.10m, and transfer the sound microphone with teal body to the left arm.",
+    "With the right arm, grasp the teal microphone, then hand the teal microphone to the left arm, avoiding the cup-shaped trophy with handles.",
+    "Use the right arm to lift the compact teal and white microphone, then give the compact teal and white microphone to the left arm, avoiding the trophy cup with curved sides by 0.10m.",
+    "Lift the rounded white tip microphone with the right arm, give the rounded white tip microphone to the left arm, keep clear of the medium-sized golden trophy 0.10m.",
+    "Let the right arm grasp the sound microphone with teal body, move it 0.10m from the trophy with dangling ribbons, then the left arm receives.",
+    "Get the handheld teal microphone with the right arm, shift the handheld teal microphone to the left arm, maintaining 0.10m from the shiny trophy with top knob.",
+    "Have the right arm take the sound microphone with teal body, then the left arm takes the sound microphone with teal body, keep 0.10m from the medium trophy with gold and black colors.",
+    "Take the textured white microphone head with the right arm, hand over to the left arm, keep the textured white microphone head 0.10m away from the golden award trophy with black base.",
+    "Take the plastic teal microphone with slider using the right arm, keep away from the decorative trophy with curved handles, and pass to the left arm.",
+    "Pick up the handheld teal microphone using the right arm, transfer to the left arm, keep 0.10m from the gold trophy on square black base.",
+    "Lift the long microphone with smooth teal grip, keep it 0.10m away from the black bottom trophy with smooth finish, then pass it across.",
+    "Pick up the long microphone with smooth teal grip, move it staying 0.10m from the trophy cup with curved sides, then complete the handoff.",
+    "Using the right arm, take the rounded white tip microphone and hand to the left arm, keeping 0.10m from the shiny trophy with top knob.",
+    "Take the long microphone with smooth teal grip with the right arm, route it away from the golden award trophy with black base, then hand it to the left arm.",
+    "Using the right arm, grab the sound microphone with teal body, keep 0.10m from the medium-sized golden trophy, then give the sound microphone with teal body to the left arm.",
+    "Grab the long microphone with smooth teal grip, carry it around the medium-sized golden trophy with 0.10m clearance, then hand over.",
+    "Pick up the rounded white tip microphone with the right arm, transfer to the left arm, stay away from the gold award cup with two handles.",
+    "Secure the sound microphone with teal body, route it at least 0.10m from the golden award trophy with black base, then hand it over.",
+    "Move the long microphone with smooth teal grip from the right arm to the left arm while keeping clear of the trophy cup with curved sides.",
+    "With the right arm, take the textured white microphone head, keep distance from the black bottom trophy with smooth finish, and give the textured white microphone head to the left arm.",
+    "Have the right arm grasp the microphone with slider switch, avoid the golden award trophy with black base by 0.10m, and transfer the microphone with slider switch to the left arm.",
+    "With the right arm, grasp the microphone with white rounded head, then hand the microphone with white rounded head to the left arm, avoiding the gold award cup with two handles.",
+    "Use the right arm to lift the sound microphone with teal body, then give the sound microphone with teal body to the left arm, avoiding the cup-shaped trophy with handles by 0.10m.",
+    "Lift the long microphone with smooth teal grip with the right arm, give the long microphone with smooth teal grip to the left arm, keep clear of the cup-shaped trophy with handles 0.10m.",
+    "Let the right arm grasp the sound microphone with teal body, move it 0.10m from the gold trophy, then the left arm receives.",
+    "Get the microphone with white rounded head with the right arm, shift the microphone with white rounded head to the left arm, maintaining 0.10m from the medium-sized golden trophy.",
+    "Have the right arm take the plastic teal microphone with slider, then the left arm takes the plastic teal microphone with slider, keep 0.10m from the medium trophy with gold and black colors.",
+    "Take the rounded white tip microphone with the right arm, hand over to the left arm, keep the rounded white tip microphone 0.10m away from the trophy with dangling ribbons.",
+    "Take the sound microphone with teal body using the right arm, keep away from the medium trophy with gold and black colors, and pass to the left arm.",
+    "Pick up the white bottom microphone with textured tip using the right arm, transfer to the left arm, keep 0.10m from the golden award trophy with black base.",
+    "Lift the compact teal and white microphone, keep it 0.10m away from the medium-sized golden trophy, then pass it across.",
+    "Pick up the handheld teal microphone, move it staying 0.10m from the gold trophy, then complete the handoff.",
+    "Using the right arm, take the sound microphone with teal body and hand to the left arm, keeping 0.10m from the trophy with dangling ribbons.",
+    "Take the handheld teal microphone with the right arm, route it away from the medium-sized golden trophy, then hand it to the left arm.",
+    "Using the right arm, grab the compact teal and white microphone, keep 0.10m from the medium trophy with gold and black colors, then give the compact teal and white microphone to the left arm.",
+    "Grab the handheld teal microphone, carry it around the medium-sized golden trophy with 0.10m clearance, then hand over.",
+    "Pick up the teal microphone with the right arm, transfer to the left arm, stay away from the gold award cup with two handles.",
+    "Secure the microphone with slider switch, route it at least 0.10m from the medium-sized golden trophy, then hand it over.",
+    "Move the microphone with white rounded head from the right arm to the left arm while keeping clear of the medium trophy with gold and black colors.",
+    "With the right arm, take the white and teal sound microphone, keep distance from the golden award trophy with black base, and give the white and teal sound microphone to the left arm.",
+    "Have the right arm grasp the microphone with white rounded head, avoid the black bottom trophy with smooth finish by 0.10m, and transfer the microphone with white rounded head to the left arm.",
+    "With the right arm, grasp the rounded white tip microphone, then hand the rounded white tip microphone to the left arm, avoiding the cup-shaped trophy with handles.",
+    "Use the right arm to lift the microphone with white rounded head, then give the microphone with white rounded head to the left arm, avoiding the gold trophy by 0.10m."
+  ],
+  "unseen": [
+    "Use the right arm to grab the long teal microphone with white grooves, pass to the left arm, keep the long teal microphone with white grooves 0.10m from the trophy with red and blue ribbons.",
+    "Grab the switchable microphone with teal body with the right arm, keep 0.10m from the smooth golden trophy, hand to the left arm.",
+    "With the right arm, grab the switchable microphone with teal body, pass to the left arm, keeping the switchable microphone with teal body 0.10m from the trophy with red and blue ribbons.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the smooth golden trophy by 0.10m.",
+    "Pick up the teal microphone with white bottom, avoid the shiny trophy cup by 0.10m, pass the teal microphone with white bottom from the right arm to the left arm.",
+    "Use the right arm to grab the long teal microphone with white grooves, then pass it to the left arm, avoiding the trophy with red and blue ribbons.",
+    "Use the right arm to grab the long teal microphone with white grooves, pass to the left arm, keep the long teal microphone with white grooves 0.10m from the trophy with red and blue ribbons.",
+    "Grab the teal microphone with white bottom with the right arm, keep 0.10m from the trophy with red and blue ribbons, hand to the left arm.",
+    "With the right arm, grab the teal microphone with white bottom, pass to the left arm, keeping the teal microphone with white bottom 0.10m from the smooth golden trophy.",
+    "Grab the teal microphone with white bottom with the right arm, hand it to the left arm, avoiding the shiny trophy cup by 0.10m.",
+    "Pick up the switchable microphone with teal body, avoid the shiny trophy cup by 0.10m, pass the switchable microphone with teal body from the right arm to the left arm.",
+    "Use the right arm to grab the long teal microphone with white grooves, then pass it to the left arm, avoiding the trophy with red and blue ribbons.",
+    "Use the right arm to grab the long teal microphone with white grooves, pass to the left arm, keep the long teal microphone with white grooves 0.10m from the shiny trophy cup.",
+    "Grab the long teal microphone with white grooves with the right arm, keep 0.10m from the shiny trophy cup, hand to the left arm.",
+    "With the right arm, grab the teal microphone with white bottom, pass to the left arm, keeping the teal microphone with white bottom 0.10m from the shiny trophy cup.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the shiny trophy cup by 0.10m.",
+    "Pick up the long teal microphone with white grooves, avoid the smooth golden trophy by 0.10m, pass the long teal microphone with white grooves from the right arm to the left arm.",
+    "Use the right arm to grab the teal microphone with white bottom, then pass it to the left arm, avoiding the trophy with red and blue ribbons.",
+    "Use the right arm to grab the long teal microphone with white grooves, pass to the left arm, keep the long teal microphone with white grooves 0.10m from the smooth golden trophy.",
+    "Grab the teal microphone with white bottom with the right arm, keep 0.10m from the trophy with red and blue ribbons, hand to the left arm.",
+    "With the right arm, grab the teal microphone with white bottom, pass to the left arm, keeping the teal microphone with white bottom 0.10m from the shiny trophy cup.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "Pick up the teal microphone with white bottom, avoid the trophy with red and blue ribbons by 0.10m, pass the teal microphone with white bottom from the right arm to the left arm.",
+    "Use the right arm to grab the switchable microphone with teal body, then pass it to the left arm, avoiding the trophy with red and blue ribbons.",
+    "Use the right arm to grab the long teal microphone with white grooves, pass to the left arm, keep the long teal microphone with white grooves 0.10m from the shiny trophy cup.",
+    "Grab the teal microphone with white bottom with the right arm, keep 0.10m from the smooth golden trophy, hand to the left arm.",
+    "With the right arm, grab the teal microphone with white bottom, pass to the left arm, keeping the teal microphone with white bottom 0.10m from the smooth golden trophy.",
+    "Grab the long teal microphone with white grooves with the right arm, hand it to the left arm, avoiding the shiny trophy cup by 0.10m.",
+    "Pick up the switchable microphone with teal body, avoid the trophy with red and blue ribbons by 0.10m, pass the switchable microphone with teal body from the right arm to the left arm.",
+    "Use the right arm to grab the long teal microphone with white grooves, then pass it to the left arm, avoiding the trophy with red and blue ribbons.",
+    "Use the right arm to grab the switchable microphone with teal body, pass to the left arm, keep the switchable microphone with teal body 0.10m from the trophy with red and blue ribbons.",
+    "Grab the long teal microphone with white grooves with the right arm, keep 0.10m from the smooth golden trophy, hand to the left arm.",
+    "With the right arm, grab the switchable microphone with teal body, pass to the left arm, keeping the switchable microphone with teal body 0.10m from the shiny trophy cup.",
+    "Grab the teal microphone with white bottom with the right arm, hand it to the left arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "Pick up the long teal microphone with white grooves, avoid the smooth golden trophy by 0.10m, pass the long teal microphone with white grooves from the right arm to the left arm.",
+    "Use the right arm to grab the switchable microphone with teal body, then pass it to the left arm, avoiding the shiny trophy cup.",
+    "Use the right arm to grab the long teal microphone with white grooves, pass to the left arm, keep the long teal microphone with white grooves 0.10m from the trophy with red and blue ribbons.",
+    "Grab the switchable microphone with teal body with the right arm, keep 0.10m from the shiny trophy cup, hand to the left arm.",
+    "With the right arm, grab the teal microphone with white bottom, pass to the left arm, keeping the teal microphone with white bottom 0.10m from the trophy with red and blue ribbons.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the smooth golden trophy by 0.10m.",
+    "Pick up the teal microphone with white bottom, avoid the shiny trophy cup by 0.10m, pass the teal microphone with white bottom from the right arm to the left arm.",
+    "Use the right arm to grab the switchable microphone with teal body, then pass it to the left arm, avoiding the shiny trophy cup.",
+    "Use the right arm to grab the long teal microphone with white grooves, pass to the left arm, keep the long teal microphone with white grooves 0.10m from the shiny trophy cup.",
+    "Grab the long teal microphone with white grooves with the right arm, keep 0.10m from the smooth golden trophy, hand to the left arm.",
+    "With the right arm, grab the teal microphone with white bottom, pass to the left arm, keeping the teal microphone with white bottom 0.10m from the smooth golden trophy.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "Pick up the long teal microphone with white grooves, avoid the smooth golden trophy by 0.10m, pass the long teal microphone with white grooves from the right arm to the left arm.",
+    "Use the right arm to grab the switchable microphone with teal body, then pass it to the left arm, avoiding the shiny trophy cup.",
+    "Use the right arm to grab the switchable microphone with teal body, pass to the left arm, keep the switchable microphone with teal body 0.10m from the trophy with red and blue ribbons.",
+    "Grab the long teal microphone with white grooves with the right arm, keep 0.10m from the smooth golden trophy, hand to the left arm.",
+    "With the right arm, grab the switchable microphone with teal body, pass to the left arm, keeping the switchable microphone with teal body 0.10m from the smooth golden trophy.",
+    "Grab the long teal microphone with white grooves with the right arm, hand it to the left arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "Pick up the teal microphone with white bottom, avoid the shiny trophy cup by 0.10m, pass the teal microphone with white bottom from the right arm to the left arm.",
+    "Use the right arm to grab the teal microphone with white bottom, then pass it to the left arm, avoiding the smooth golden trophy.",
+    "Use the right arm to grab the long teal microphone with white grooves, pass to the left arm, keep the long teal microphone with white grooves 0.10m from the smooth golden trophy.",
+    "Grab the teal microphone with white bottom with the right arm, keep 0.10m from the smooth golden trophy, hand to the left arm.",
+    "With the right arm, grab the long teal microphone with white grooves, pass to the left arm, keeping the long teal microphone with white grooves 0.10m from the shiny trophy cup.",
+    "Grab the long teal microphone with white grooves with the right arm, hand it to the left arm, avoiding the shiny trophy cup by 0.10m.",
+    "Pick up the teal microphone with white bottom, avoid the shiny trophy cup by 0.10m, pass the teal microphone with white bottom from the right arm to the left arm.",
+    "Use the right arm to grab the long teal microphone with white grooves, then pass it to the left arm, avoiding the shiny trophy cup.",
+    "Use the right arm to grab the switchable microphone with teal body, pass to the left arm, keep the switchable microphone with teal body 0.10m from the shiny trophy cup.",
+    "Grab the switchable microphone with teal body with the right arm, keep 0.10m from the smooth golden trophy, hand to the left arm.",
+    "With the right arm, grab the teal microphone with white bottom, pass to the left arm, keeping the teal microphone with white bottom 0.10m from the smooth golden trophy.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the smooth golden trophy by 0.10m.",
+    "Pick up the teal microphone with white bottom, avoid the shiny trophy cup by 0.10m, pass the teal microphone with white bottom from the right arm to the left arm.",
+    "Use the right arm to grab the teal microphone with white bottom, then pass it to the left arm, avoiding the shiny trophy cup.",
+    "Use the right arm to grab the switchable microphone with teal body, pass to the left arm, keep the switchable microphone with teal body 0.10m from the smooth golden trophy.",
+    "Grab the teal microphone with white bottom with the right arm, keep 0.10m from the smooth golden trophy, hand to the left arm.",
+    "With the right arm, grab the switchable microphone with teal body, pass to the left arm, keeping the switchable microphone with teal body 0.10m from the shiny trophy cup.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the shiny trophy cup by 0.10m.",
+    "Pick up the switchable microphone with teal body, avoid the shiny trophy cup by 0.10m, pass the switchable microphone with teal body from the right arm to the left arm.",
+    "Use the right arm to grab the long teal microphone with white grooves, then pass it to the left arm, avoiding the trophy with red and blue ribbons.",
+    "Use the right arm to grab the switchable microphone with teal body, pass to the left arm, keep the switchable microphone with teal body 0.10m from the smooth golden trophy.",
+    "Grab the teal microphone with white bottom with the right arm, keep 0.10m from the trophy with red and blue ribbons, hand to the left arm.",
+    "With the right arm, grab the teal microphone with white bottom, pass to the left arm, keeping the teal microphone with white bottom 0.10m from the trophy with red and blue ribbons.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "Pick up the long teal microphone with white grooves, avoid the trophy with red and blue ribbons by 0.10m, pass the long teal microphone with white grooves from the right arm to the left arm.",
+    "Use the right arm to grab the long teal microphone with white grooves, then pass it to the left arm, avoiding the trophy with red and blue ribbons.",
+    "Use the right arm to grab the switchable microphone with teal body, pass to the left arm, keep the switchable microphone with teal body 0.10m from the smooth golden trophy.",
+    "Grab the switchable microphone with teal body with the right arm, keep 0.10m from the shiny trophy cup, hand to the left arm.",
+    "With the right arm, grab the teal microphone with white bottom, pass to the left arm, keeping the teal microphone with white bottom 0.10m from the trophy with red and blue ribbons.",
+    "Grab the long teal microphone with white grooves with the right arm, hand it to the left arm, avoiding the smooth golden trophy by 0.10m.",
+    "Pick up the long teal microphone with white grooves, avoid the trophy with red and blue ribbons by 0.10m, pass the long teal microphone with white grooves from the right arm to the left arm.",
+    "Use the right arm to grab the long teal microphone with white grooves, then pass it to the left arm, avoiding the trophy with red and blue ribbons.",
+    "Use the right arm to grab the long teal microphone with white grooves, pass to the left arm, keep the long teal microphone with white grooves 0.10m from the trophy with red and blue ribbons.",
+    "Grab the switchable microphone with teal body with the right arm, keep 0.10m from the shiny trophy cup, hand to the left arm.",
+    "With the right arm, grab the long teal microphone with white grooves, pass to the left arm, keeping the long teal microphone with white grooves 0.10m from the shiny trophy cup.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the smooth golden trophy by 0.10m.",
+    "Pick up the switchable microphone with teal body, avoid the smooth golden trophy by 0.10m, pass the switchable microphone with teal body from the right arm to the left arm.",
+    "Use the right arm to grab the switchable microphone with teal body, then pass it to the left arm, avoiding the trophy with red and blue ribbons.",
+    "Use the right arm to grab the switchable microphone with teal body, pass to the left arm, keep the switchable microphone with teal body 0.10m from the smooth golden trophy.",
+    "Grab the long teal microphone with white grooves with the right arm, keep 0.10m from the shiny trophy cup, hand to the left arm.",
+    "With the right arm, grab the switchable microphone with teal body, pass to the left arm, keeping the switchable microphone with teal body 0.10m from the trophy with red and blue ribbons.",
+    "Grab the teal microphone with white bottom with the right arm, hand it to the left arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "Pick up the long teal microphone with white grooves, avoid the trophy with red and blue ribbons by 0.10m, pass the long teal microphone with white grooves from the right arm to the left arm.",
+    "Use the right arm to grab the teal microphone with white bottom, then pass it to the left arm, avoiding the trophy with red and blue ribbons.",
+    "Use the right arm to grab the switchable microphone with teal body, pass to the left arm, keep the switchable microphone with teal body 0.10m from the shiny trophy cup.",
+    "Grab the switchable microphone with teal body with the right arm, keep 0.10m from the shiny trophy cup, hand to the left arm.",
+    "With the right arm, grab the teal microphone with white bottom, pass to the left arm, keeping the teal microphone with white bottom 0.10m from the shiny trophy cup.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the trophy with red and blue ribbons by 0.10m."
+  ]
+}
\ No newline at end of file
diff --git a/handover_mic_wp1/handover_mic_wp1/instructions/episode61.json b/handover_mic_wp1/handover_mic_wp1/instructions/episode61.json
new file mode 100644
index 0000000000000000000000000000000000000000..220fa97a486e6094286c6c4a38062b9f13ac1aa1
--- /dev/null
+++ b/handover_mic_wp1/handover_mic_wp1/instructions/episode61.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the gray and dark blue microphone with the left arm, give the gray and dark blue microphone to the right arm, keep clear of the award trophy 0.10m.",
+    "Have the left arm grasp the gray and dark blue microphone, avoid the decorative trophy with curved handles by 0.10m, and transfer the gray and dark blue microphone to the right arm.",
+    "With the left arm, grasp the microphone with round foam head, then hand the microphone with round foam head to the right arm, avoiding the medium-sized yellow trophy.",
+    "With the left arm, take the gray stem microphone with foam top, keep distance from the award cup with orange highlights, and give the gray stem microphone with foam top to the right arm.",
+    "Use the left arm to lift the microphone covered with foam tip, then give the microphone covered with foam tip to the right arm, avoiding the medium-sized yellow trophy by 0.10m.",
+    "Pick up the round head microphone, move it staying 0.10m from the trophy cup, then complete the handoff.",
+    "Take the dark blue microphone using the left arm, keep away from the gold cup with handles, and pass to the right arm.",
+    "Secure the microphone with dark blue padding, route it at least 0.10m from the medium-sized yellow trophy, then hand it over.",
+    "Let the left arm grasp the audio microphone with soft covering, move it 0.10m from the award trophy, then the right arm receives.",
+    "Take the medium microphone with two-tone color with the left arm, route it away from the glossy yellow trophy with base, then hand it to the right arm.",
+    "Pick up the round head microphone using the left arm, transfer to the right arm, keep 0.10m from the two-handled prize trophy.",
+    "Lift the microphone for recording sound, keep it 0.10m away from the decorative trophy with curved handles, then pass it across.",
+    "Using the left arm, take the medium microphone with two-tone color and hand to the right arm, keeping 0.10m from the gold cup with handles.",
+    "Have the left arm take the microphone with smooth gray stem, then the right arm takes the microphone with smooth gray stem, keep 0.10m from the trophy cup.",
+    "Using the left arm, grab the round head microphone, keep 0.10m from the two-handled prize trophy, then give the round head microphone to the right arm.",
+    "Pick up the microphone covered with foam tip with the left arm, transfer to the right arm, stay away from the glossy yellow trophy with base.",
+    "Take the dark blue microphone with the left arm, hand over to the right arm, keep the dark blue microphone 0.10m away from the decorative trophy with curved handles.",
+    "Grab the round head microphone, carry it around the smooth gold cup-shaped trophy with 0.10m clearance, then hand over.",
+    "Get the microphone with smooth gray stem with the left arm, shift the microphone with smooth gray stem to the right arm, maintaining 0.10m from the golden award with orange edges.",
+    "Move the audio microphone with soft covering from the left arm to the right arm while keeping clear of the shiny golden prize trophy.",
+    "Lift the microphone with dark blue padding with the left arm, give the microphone with dark blue padding to the right arm, keep clear of the golden trophy 0.10m.",
+    "Have the left arm grasp the microphone for recording sound, avoid the decorative trophy with curved handles by 0.10m, and transfer the microphone for recording sound to the right arm.",
+    "With the left arm, grasp the dark blue microphone, then hand the dark blue microphone to the right arm, avoiding the award cup with orange highlights.",
+    "With the left arm, take the dark blue microphone, keep distance from the gold cup with handles, and give the dark blue microphone to the right arm.",
+    "Use the left arm to lift the gray and dark blue microphone, then give the gray and dark blue microphone to the right arm, avoiding the award trophy by 0.10m.",
+    "Pick up the gray and dark blue microphone, move it staying 0.10m from the decorative trophy with curved handles, then complete the handoff.",
+    "Take the microphone with dark blue padding using the left arm, keep away from the glossy yellow trophy with base, and pass to the right arm.",
+    "Secure the microphone with round foam head, route it at least 0.10m from the medium-sized yellow trophy, then hand it over.",
+    "Let the left arm grasp the audio microphone with soft covering, move it 0.10m from the glossy yellow trophy with base, then the right arm receives.",
+    "Take the gray and dark blue microphone with the left arm, route it away from the shiny golden prize trophy, then hand it to the right arm.",
+    "Pick up the small audio microphone using the left arm, transfer to the right arm, keep 0.10m from the glossy yellow trophy with base.",
+    "Lift the microphone for recording sound, keep it 0.10m away from the shiny golden prize trophy, then pass it across.",
+    "Using the left arm, take the microphone for recording sound and hand to the right arm, keeping 0.10m from the two-handled prize trophy.",
+    "Have the left arm take the small audio microphone, then the right arm takes the small audio microphone, keep 0.10m from the smooth gold cup-shaped trophy.",
+    "Using the left arm, grab the dark blue microphone, keep 0.10m from the golden trophy, then give the dark blue microphone to the right arm.",
+    "Pick up the microphone with dark blue padding with the left arm, transfer to the right arm, stay away from the golden trophy.",
+    "Take the small audio microphone with the left arm, hand over to the right arm, keep the small audio microphone 0.10m away from the trophy cup.",
+    "Grab the microphone with round foam head, carry it around the glossy yellow trophy with base with 0.10m clearance, then hand over.",
+    "Get the medium microphone with two-tone color with the left arm, shift the medium microphone with two-tone color to the right arm, maintaining 0.10m from the award trophy.",
+    "Move the microphone with smooth gray stem from the left arm to the right arm while keeping clear of the trophy cup.",
+    "Lift the round head microphone with the left arm, give the round head microphone to the right arm, keep clear of the golden award with orange edges 0.10m.",
+    "Have the left arm grasp the dark blue microphone, avoid the gold cup with handles by 0.10m, and transfer the dark blue microphone to the right arm.",
+    "With the left arm, grasp the microphone for recording sound, then hand the microphone for recording sound to the right arm, avoiding the two-handled prize trophy.",
+    "With the left arm, take the dark blue microphone, keep distance from the smooth gold cup-shaped trophy, and give the dark blue microphone to the right arm.",
+    "Use the left arm to lift the audio microphone with soft covering, then give the audio microphone with soft covering to the right arm, avoiding the medium-sized yellow trophy by 0.10m.",
+    "Pick up the medium microphone with two-tone color, move it staying 0.10m from the golden award with orange edges, then complete the handoff.",
+    "Take the microphone for recording sound using the left arm, keep away from the golden award with orange edges, and pass to the right arm.",
+    "Secure the microphone for recording sound, route it at least 0.10m from the trophy cup, then hand it over.",
+    "Let the left arm grasp the dark blue microphone, move it 0.10m from the decorative trophy with curved handles, then the right arm receives.",
+    "Take the microphone with smooth gray stem with the left arm, route it away from the shiny golden prize trophy, then hand it to the right arm.",
+    "Pick up the audio microphone with soft covering using the left arm, transfer to the right arm, keep 0.10m from the medium-sized yellow trophy.",
+    "Lift the gray stem microphone with foam top, keep it 0.10m away from the glossy yellow trophy with base, then pass it across.",
+    "Using the left arm, take the dark blue microphone and hand to the right arm, keeping 0.10m from the shiny golden prize trophy.",
+    "Have the left arm take the round head microphone, then the right arm takes the round head microphone, keep 0.10m from the decorative trophy with curved handles.",
+    "Using the left arm, grab the audio microphone with soft covering, keep 0.10m from the medium-sized yellow trophy, then give the audio microphone with soft covering to the right arm.",
+    "Pick up the round head microphone with the left arm, transfer to the right arm, stay away from the decorative trophy with curved handles.",
+    "Take the audio microphone with soft covering with the left arm, hand over to the right arm, keep the audio microphone with soft covering 0.10m away from the award trophy.",
+    "Grab the medium microphone with two-tone color, carry it around the gold cup with handles with 0.10m clearance, then hand over.",
+    "Get the round head microphone with the left arm, shift the round head microphone to the right arm, maintaining 0.10m from the gold cup with handles.",
+    "Move the dark blue microphone from the left arm to the right arm while keeping clear of the glossy yellow trophy with base.",
+    "Lift the microphone with dark blue padding with the left arm, give the microphone with dark blue padding to the right arm, keep clear of the gold cup with handles 0.10m.",
+    "Have the left arm grasp the microphone for recording sound, avoid the two-handled prize trophy by 0.10m, and transfer the microphone for recording sound to the right arm.",
+    "With the left arm, grasp the dark blue microphone, then hand the dark blue microphone to the right arm, avoiding the two-handled prize trophy.",
+    "With the left arm, take the microphone with dark blue padding, keep distance from the trophy cup, and give the microphone with dark blue padding to the right arm.",
+    "Use the left arm to lift the microphone covered with foam tip, then give the microphone covered with foam tip to the right arm, avoiding the award cup with orange highlights by 0.10m.",
+    "Pick up the medium microphone with two-tone color, move it staying 0.10m from the decorative trophy with curved handles, then complete the handoff.",
+    "Take the microphone covered with foam tip using the left arm, keep away from the golden award with orange edges, and pass to the right arm.",
+    "Secure the microphone covered with foam tip, route it at least 0.10m from the medium-sized yellow trophy, then hand it over.",
+    "Let the left arm grasp the gray and dark blue microphone, move it 0.10m from the two-handled prize trophy, then the right arm receives.",
+    "Take the audio microphone with soft covering with the left arm, route it away from the medium-sized yellow trophy, then hand it to the right arm.",
+    "Pick up the microphone with smooth gray stem using the left arm, transfer to the right arm, keep 0.10m from the medium-sized yellow trophy.",
+    "Lift the microphone with smooth gray stem, keep it 0.10m away from the smooth gold cup-shaped trophy, then pass it across.",
+    "Using the left arm, take the microphone with round foam head and hand to the right arm, keeping 0.10m from the medium-sized yellow trophy.",
+    "Have the left arm take the small audio microphone, then the right arm takes the small audio microphone, keep 0.10m from the golden trophy.",
+    "Using the left arm, grab the round head microphone, keep 0.10m from the shiny golden prize trophy, then give the round head microphone to the right arm.",
+    "Pick up the gray stem microphone with foam top with the left arm, transfer to the right arm, stay away from the award cup with orange highlights.",
+    "Take the round head microphone with the left arm, hand over to the right arm, keep the round head microphone 0.10m away from the medium-sized yellow trophy.",
+    "Grab the round head microphone, carry it around the golden award with orange edges with 0.10m clearance, then hand over.",
+    "Get the microphone for recording sound with the left arm, shift the microphone for recording sound to the right arm, maintaining 0.10m from the award cup with orange highlights.",
+    "Move the medium microphone with two-tone color from the left arm to the right arm while keeping clear of the medium-sized yellow trophy.",
+    "Lift the medium microphone with two-tone color with the left arm, give the medium microphone with two-tone color to the right arm, keep clear of the gold cup with handles 0.10m.",
+    "Have the left arm grasp the microphone for recording sound, avoid the award trophy by 0.10m, and transfer the microphone for recording sound to the right arm.",
+    "With the left arm, grasp the microphone with dark blue padding, then hand the microphone with dark blue padding to the right arm, avoiding the gold cup with handles.",
+    "With the left arm, take the medium microphone with two-tone color, keep distance from the gold cup with handles, and give the medium microphone with two-tone color to the right arm.",
+    "Use the left arm to lift the round head microphone, then give the round head microphone to the right arm, avoiding the decorative trophy with curved handles by 0.10m.",
+    "Pick up the microphone with round foam head, move it staying 0.10m from the award cup with orange highlights, then complete the handoff.",
+    "Take the round head microphone using the left arm, keep away from the two-handled prize trophy, and pass to the right arm.",
+    "Secure the dark blue microphone, route it at least 0.10m from the smooth gold cup-shaped trophy, then hand it over.",
+    "Let the left arm grasp the gray stem microphone with foam top, move it 0.10m from the award cup with orange highlights, then the right arm receives.",
+    "Take the microphone with round foam head with the left arm, route it away from the gold cup with handles, then hand it to the right arm.",
+    "Pick up the microphone with dark blue padding using the left arm, transfer to the right arm, keep 0.10m from the trophy cup.",
+    "Lift the gray stem microphone with foam top, keep it 0.10m away from the two-handled prize trophy, then pass it across.",
+    "Using the left arm, take the audio microphone with soft covering and hand to the right arm, keeping 0.10m from the two-handled prize trophy.",
+    "Have the left arm take the medium microphone with two-tone color, then the right arm takes the medium microphone with two-tone color, keep 0.10m from the gold cup with handles.",
+    "Using the left arm, grab the round head microphone, keep 0.10m from the trophy cup, then give the round head microphone to the right arm.",
+    "Pick up the microphone with round foam head with the left arm, transfer to the right arm, stay away from the shiny golden prize trophy.",
+    "Take the round head microphone with the left arm, hand over to the right arm, keep the round head microphone 0.10m away from the glossy yellow trophy with base.",
+    "Grab the round head microphone, carry it around the trophy cup with 0.10m clearance, then hand over.",
+    "Get the small audio microphone with the left arm, shift the small audio microphone to the right arm, maintaining 0.10m from the smooth gold cup-shaped trophy.",
+    "Move the microphone covered with foam tip from the left arm to the right arm while keeping clear of the glossy yellow trophy with base."
+  ],
+  "unseen": [
+    "Use the left arm to grab the microphone with cylindrical handle, pass to the right arm, keep the microphone with cylindrical handle 0.10m from the yellow cup with round stand.",
+    "With the left arm, grab the handheld microphone, pass to the right arm, keeping the handheld microphone 0.10m from the hand-sized shiny gold trophy.",
+    "Use the left arm to grab the compact microphone with two parts, then pass it to the right arm, avoiding the yellow cup with round stand.",
+    "Pick up the handheld microphone, avoid the yellow cup with round stand by 0.10m, pass the handheld microphone from the left arm to the right arm.",
+    "Grab the microphone with cylindrical handle with the left arm, hand it to the right arm, avoiding the golden trophy with round base by 0.10m.",
+    "Grab the compact microphone with two parts with the left arm, keep 0.10m from the golden trophy with round base, hand to the right arm.",
+    "Use the left arm to grab the microphone with cylindrical handle, pass to the right arm, keep the microphone with cylindrical handle 0.10m from the yellow cup with round stand.",
+    "With the left arm, grab the compact microphone with two parts, pass to the right arm, keeping the compact microphone with two parts 0.10m from the golden trophy with round base.",
+    "Use the left arm to grab the microphone with cylindrical handle, then pass it to the right arm, avoiding the golden trophy with round base.",
+    "Pick up the handheld microphone, avoid the yellow cup with round stand by 0.10m, pass the handheld microphone from the left arm to the right arm.",
+    "Grab the microphone with cylindrical handle with the left arm, hand it to the right arm, avoiding the hand-sized shiny gold trophy by 0.10m.",
+    "Grab the microphone with cylindrical handle with the left arm, keep 0.10m from the yellow cup with round stand, hand to the right arm.",
+    "Use the left arm to grab the handheld microphone, pass to the right arm, keep the handheld microphone 0.10m from the yellow cup with round stand.",
+    "With the left arm, grab the compact microphone with two parts, pass to the right arm, keeping the compact microphone with two parts 0.10m from the hand-sized shiny gold trophy.",
+    "Use the left arm to grab the microphone with cylindrical handle, then pass it to the right arm, avoiding the golden trophy with round base.",
+    "Pick up the handheld microphone, avoid the yellow cup with round stand by 0.10m, pass the handheld microphone from the left arm to the right arm.",
+    "Grab the microphone with cylindrical handle with the left arm, hand it to the right arm, avoiding the golden trophy with round base by 0.10m.",
+    "Grab the handheld microphone with the left arm, keep 0.10m from the hand-sized shiny gold trophy, hand to the right arm.",
+    "Use the left arm to grab the handheld microphone, pass to the right arm, keep the handheld microphone 0.10m from the yellow cup with round stand.",
+    "With the left arm, grab the compact microphone with two parts, pass to the right arm, keeping the compact microphone with two parts 0.10m from the hand-sized shiny gold trophy.",
+    "Use the left arm to grab the handheld microphone, then pass it to the right arm, avoiding the golden trophy with round base.",
+    "Pick up the microphone with cylindrical handle, avoid the yellow cup with round stand by 0.10m, pass the microphone with cylindrical handle from the left arm to the right arm.",
+    "Grab the microphone with cylindrical handle with the left arm, hand it to the right arm, avoiding the yellow cup with round stand by 0.10m.",
+    "Grab the handheld microphone with the left arm, keep 0.10m from the yellow cup with round stand, hand to the right arm.",
+    "Use the left arm to grab the compact microphone with two parts, pass to the right arm, keep the compact microphone with two parts 0.10m from the golden trophy with round base.",
+    "With the left arm, grab the compact microphone with two parts, pass to the right arm, keeping the compact microphone with two parts 0.10m from the yellow cup with round stand.",
+    "Use the left arm to grab the compact microphone with two parts, then pass it to the right arm, avoiding the golden trophy with round base.",
+    "Pick up the microphone with cylindrical handle, avoid the hand-sized shiny gold trophy by 0.10m, pass the microphone with cylindrical handle from the left arm to the right arm.",
+    "Grab the handheld microphone with the left arm, hand it to the right arm, avoiding the hand-sized shiny gold trophy by 0.10m.",
+    "Grab the handheld microphone with the left arm, keep 0.10m from the hand-sized shiny gold trophy, hand to the right arm.",
+    "Use the left arm to grab the compact microphone with two parts, pass to the right arm, keep the compact microphone with two parts 0.10m from the hand-sized shiny gold trophy.",
+    "With the left arm, grab the compact microphone with two parts, pass to the right arm, keeping the compact microphone with two parts 0.10m from the yellow cup with round stand.",
+    "Use the left arm to grab the handheld microphone, then pass it to the right arm, avoiding the yellow cup with round stand.",
+    "Pick up the compact microphone with two parts, avoid the golden trophy with round base by 0.10m, pass the compact microphone with two parts from the left arm to the right arm.",
+    "Grab the handheld microphone with the left arm, hand it to the right arm, avoiding the hand-sized shiny gold trophy by 0.10m.",
+    "Grab the microphone with cylindrical handle with the left arm, keep 0.10m from the yellow cup with round stand, hand to the right arm.",
+    "Use the left arm to grab the handheld microphone, pass to the right arm, keep the handheld microphone 0.10m from the yellow cup with round stand.",
+    "With the left arm, grab the microphone with cylindrical handle, pass to the right arm, keeping the microphone with cylindrical handle 0.10m from the yellow cup with round stand.",
+    "Use the left arm to grab the handheld microphone, then pass it to the right arm, avoiding the golden trophy with round base.",
+    "Pick up the handheld microphone, avoid the yellow cup with round stand by 0.10m, pass the handheld microphone from the left arm to the right arm.",
+    "Grab the microphone with cylindrical handle with the left arm, hand it to the right arm, avoiding the golden trophy with round base by 0.10m.",
+    "Grab the handheld microphone with the left arm, keep 0.10m from the golden trophy with round base, hand to the right arm.",
+    "Use the left arm to grab the compact microphone with two parts, pass to the right arm, keep the compact microphone with two parts 0.10m from the hand-sized shiny gold trophy.",
+    "With the left arm, grab the microphone with cylindrical handle, pass to the right arm, keeping the microphone with cylindrical handle 0.10m from the yellow cup with round stand.",
+    "Use the left arm to grab the compact microphone with two parts, then pass it to the right arm, avoiding the hand-sized shiny gold trophy.",
+    "Pick up the compact microphone with two parts, avoid the golden trophy with round base by 0.10m, pass the compact microphone with two parts from the left arm to the right arm.",
+    "Grab the microphone with cylindrical handle with the left arm, hand it to the right arm, avoiding the golden trophy with round base by 0.10m.",
+    "Grab the microphone with cylindrical handle with the left arm, keep 0.10m from the yellow cup with round stand, hand to the right arm.",
+    "Use the left arm to grab the handheld microphone, pass to the right arm, keep the handheld microphone 0.10m from the golden trophy with round base.",
+    "With the left arm, grab the compact microphone with two parts, pass to the right arm, keeping the compact microphone with two parts 0.10m from the yellow cup with round stand.",
+    "Use the left arm to grab the compact microphone with two parts, then pass it to the right arm, avoiding the golden trophy with round base.",
+    "Pick up the handheld microphone, avoid the yellow cup with round stand by 0.10m, pass the handheld microphone from the left arm to the right arm.",
+    "Grab the microphone with cylindrical handle with the left arm, hand it to the right arm, avoiding the hand-sized shiny gold trophy by 0.10m.",
+    "Grab the compact microphone with two parts with the left arm, keep 0.10m from the hand-sized shiny gold trophy, hand to the right arm.",
+    "Use the left arm to grab the handheld microphone, pass to the right arm, keep the handheld microphone 0.10m from the golden trophy with round base.",
+    "With the left arm, grab the compact microphone with two parts, pass to the right arm, keeping the compact microphone with two parts 0.10m from the hand-sized shiny gold trophy.",
+    "Use the left arm to grab the compact microphone with two parts, then pass it to the right arm, avoiding the golden trophy with round base.",
+    "Pick up the microphone with cylindrical handle, avoid the hand-sized shiny gold trophy by 0.10m, pass the microphone with cylindrical handle from the left arm to the right arm.",
+    "Grab the microphone with cylindrical handle with the left arm, hand it to the right arm, avoiding the hand-sized shiny gold trophy by 0.10m.",
+    "Grab the handheld microphone with the left arm, keep 0.10m from the hand-sized shiny gold trophy, hand to the right arm.",
+    "Use the left arm to grab the compact microphone with two parts, pass to the right arm, keep the compact microphone with two parts 0.10m from the golden trophy with round base.",
+    "With the left arm, grab the handheld microphone, pass to the right arm, keeping the handheld microphone 0.10m from the golden trophy with round base.",
+    "Use the left arm to grab the compact microphone with two parts, then pass it to the right arm, avoiding the hand-sized shiny gold trophy.",
+    "Pick up the handheld microphone, avoid the golden trophy with round base by 0.10m, pass the handheld microphone from the left arm to the right arm.",
+    "Grab the handheld microphone with the left arm, hand it to the right arm, avoiding the yellow cup with round stand by 0.10m.",
+    "Grab the microphone with cylindrical handle with the left arm, keep 0.10m from the hand-sized shiny gold trophy, hand to the right arm.",
+    "Use the left arm to grab the microphone with cylindrical handle, pass to the right arm, keep the microphone with cylindrical handle 0.10m from the yellow cup with round stand.",
+    "With the left arm, grab the microphone with cylindrical handle, pass to the right arm, keeping the microphone with cylindrical handle 0.10m from the hand-sized shiny gold trophy.",
+    "Use the left arm to grab the handheld microphone, then pass it to the right arm, avoiding the yellow cup with round stand.",
+    "Pick up the handheld microphone, avoid the yellow cup with round stand by 0.10m, pass the handheld microphone from the left arm to the right arm.",
+    "Grab the microphone with cylindrical handle with the left arm, hand it to the right arm, avoiding the yellow cup with round stand by 0.10m.",
+    "Grab the compact microphone with two parts with the left arm, keep 0.10m from the golden trophy with round base, hand to the right arm.",
+    "Use the left arm to grab the microphone with cylindrical handle, pass to the right arm, keep the microphone with cylindrical handle 0.10m from the golden trophy with round base.",
+    "With the left arm, grab the handheld microphone, pass to the right arm, keeping the handheld microphone 0.10m from the yellow cup with round stand.",
+    "Use the left arm to grab the compact microphone with two parts, then pass it to the right arm, avoiding the golden trophy with round base.",
+    "Pick up the compact microphone with two parts, avoid the yellow cup with round stand by 0.10m, pass the compact microphone with two parts from the left arm to the right arm.",
+    "Grab the microphone with cylindrical handle with the left arm, hand it to the right arm, avoiding the hand-sized shiny gold trophy by 0.10m.",
+    "Grab the microphone with cylindrical handle with the left arm, keep 0.10m from the golden trophy with round base, hand to the right arm.",
+    "Use the left arm to grab the handheld microphone, pass to the right arm, keep the handheld microphone 0.10m from the yellow cup with round stand.",
+    "With the left arm, grab the microphone with cylindrical handle, pass to the right arm, keeping the microphone with cylindrical handle 0.10m from the yellow cup with round stand.",
+    "Use the left arm to grab the microphone with cylindrical handle, then pass it to the right arm, avoiding the yellow cup with round stand.",
+    "Pick up the compact microphone with two parts, avoid the golden trophy with round base by 0.10m, pass the compact microphone with two parts from the left arm to the right arm.",
+    "Grab the compact microphone with two parts with the left arm, hand it to the right arm, avoiding the yellow cup with round stand by 0.10m.",
+    "Grab the microphone with cylindrical handle with the left arm, keep 0.10m from the hand-sized shiny gold trophy, hand to the right arm.",
+    "Use the left arm to grab the microphone with cylindrical handle, pass to the right arm, keep the microphone with cylindrical handle 0.10m from the yellow cup with round stand.",
+    "With the left arm, grab the compact microphone with two parts, pass to the right arm, keeping the compact microphone with two parts 0.10m from the hand-sized shiny gold trophy.",
+    "Use the left arm to grab the microphone with cylindrical handle, then pass it to the right arm, avoiding the yellow cup with round stand.",
+    "Pick up the microphone with cylindrical handle, avoid the hand-sized shiny gold trophy by 0.10m, pass the microphone with cylindrical handle from the left arm to the right arm.",
+    "Grab the handheld microphone with the left arm, hand it to the right arm, avoiding the hand-sized shiny gold trophy by 0.10m.",
+    "Grab the handheld microphone with the left arm, keep 0.10m from the yellow cup with round stand, hand to the right arm.",
+    "Use the left arm to grab the compact microphone with two parts, pass to the right arm, keep the compact microphone with two parts 0.10m from the yellow cup with round stand.",
+    "With the left arm, grab the handheld microphone, pass to the right arm, keeping the handheld microphone 0.10m from the golden trophy with round base.",
+    "Use the left arm to grab the handheld microphone, then pass it to the right arm, avoiding the golden trophy with round base.",
+    "Pick up the compact microphone with two parts, avoid the hand-sized shiny gold trophy by 0.10m, pass the compact microphone with two parts from the left arm to the right arm.",
+    "Grab the microphone with cylindrical handle with the left arm, hand it to the right arm, avoiding the yellow cup with round stand by 0.10m.",
+    "Grab the microphone with cylindrical handle with the left arm, keep 0.10m from the golden trophy with round base, hand to the right arm.",
+    "Use the left arm to grab the handheld microphone, pass to the right arm, keep the handheld microphone 0.10m from the golden trophy with round base.",
+    "With the left arm, grab the handheld microphone, pass to the right arm, keeping the handheld microphone 0.10m from the golden trophy with round base.",
+    "Use the left arm to grab the compact microphone with two parts, then pass it to the right arm, avoiding the golden trophy with round base.",
+    "Pick up the compact microphone with two parts, avoid the yellow cup with round stand by 0.10m, pass the compact microphone with two parts from the left arm to the right arm."
+  ]
+}
\ No newline at end of file
diff --git a/handover_mic_wp1/handover_mic_wp1/instructions/episode62.json b/handover_mic_wp1/handover_mic_wp1/instructions/episode62.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b8c5cbffb07456616cdf1e6688b02e6ba60ff12
--- /dev/null
+++ b/handover_mic_wp1/handover_mic_wp1/instructions/episode62.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the microphone with rounded mesh head, keep it 0.10m away from the gold award cup with two handles, then pass it across.",
+    "Take the microphone with black tip and white body with the left arm, route it away from the gold award cup with two handles, then hand it to the right arm.",
+    "Secure the white microphone handle black accents, route it at least 0.10m from the decorative trophy with curved handles, then hand it over.",
+    "Let the left arm grasp the microphone with textured metal head, move it 0.10m from the cup-shaped trophy with handles, then the right arm receives.",
+    "Move the microphone for voice recording from the left arm to the right arm while keeping clear of the shiny trophy with top knob.",
+    "Take the microphone for voice recording using the left arm, keep away from the golden award trophy with black base, and pass to the right arm.",
+    "With the left arm, grasp the metal head microphone, then hand the metal head microphone to the right arm, avoiding the trophy cup with curved sides.",
+    "Pick up the compact size microphone with the left arm, transfer to the right arm, stay away from the medium trophy with gold and black colors.",
+    "Have the left arm grasp the microphone with black tip and white body, avoid the gold trophy on square black base by 0.10m, and transfer the microphone with black tip and white body to the right arm.",
+    "Using the left arm, grab the microphone with cylindrical handle, keep 0.10m from the trophy with dangling ribbons, then give the microphone with cylindrical handle to the right arm.",
+    "Lift the smooth plastic microphone handle with the left arm, give the smooth plastic microphone handle to the right arm, keep clear of the gold trophy 0.10m.",
+    "Grab the metal head microphone, carry it around the gold trophy on square black base with 0.10m clearance, then hand over.",
+    "Have the left arm take the microphone for voice recording, then the right arm takes the microphone for voice recording, keep 0.10m from the medium-sized golden trophy.",
+    "Get the microphone with textured metal head with the left arm, shift the microphone with textured metal head to the right arm, maintaining 0.10m from the medium trophy with gold and black colors.",
+    "With the left arm, take the compact size microphone, keep distance from the gold trophy, and give the compact size microphone to the right arm.",
+    "Using the left arm, take the smooth plastic microphone handle and hand to the right arm, keeping 0.10m from the medium trophy with gold and black colors.",
+    "Pick up the microphone with black tip and white body using the left arm, transfer to the right arm, keep 0.10m from the black bottom trophy with smooth finish.",
+    "Use the left arm to lift the handheld microphone, then give the handheld microphone to the right arm, avoiding the decorative trophy with curved handles by 0.10m.",
+    "Take the microphone with rounded mesh head with the left arm, hand over to the right arm, keep the microphone with rounded mesh head 0.10m away from the medium trophy with gold and black colors.",
+    "Pick up the microphone for voice recording, move it staying 0.10m from the medium-sized golden trophy, then complete the handoff.",
+    "Lift the microphone for voice recording, keep it 0.10m away from the black bottom trophy with smooth finish, then pass it across.",
+    "Take the microphone with black tip and white body with the left arm, route it away from the medium trophy with gold and black colors, then hand it to the right arm.",
+    "Secure the metal head microphone, route it at least 0.10m from the shiny trophy with top knob, then hand it over.",
+    "Let the left arm grasp the microphone with black tip and white body, move it 0.10m from the cup-shaped trophy with handles, then the right arm receives.",
+    "Move the white microphone handle black accents from the left arm to the right arm while keeping clear of the shiny trophy with top knob.",
+    "Take the black and white microphone using the left arm, keep away from the golden award trophy with black base, and pass to the right arm.",
+    "With the left arm, grasp the microphone with textured metal head, then hand the microphone with textured metal head to the right arm, avoiding the gold award cup with two handles.",
+    "Pick up the white microphone handle black accents with the left arm, transfer to the right arm, stay away from the gold trophy.",
+    "Have the left arm grasp the microphone with textured metal head, avoid the gold award cup with two handles by 0.10m, and transfer the microphone with textured metal head to the right arm.",
+    "Using the left arm, grab the black and white microphone, keep 0.10m from the trophy cup with curved sides, then give the black and white microphone to the right arm.",
+    "Lift the handheld microphone with the left arm, give the handheld microphone to the right arm, keep clear of the gold trophy on square black base 0.10m.",
+    "Grab the compact size microphone, carry it around the gold trophy on square black base with 0.10m clearance, then hand over.",
+    "Have the left arm take the handheld microphone, then the right arm takes the handheld microphone, keep 0.10m from the shiny trophy with top knob.",
+    "Get the microphone with black tip and white body with the left arm, shift the microphone with black tip and white body to the right arm, maintaining 0.10m from the gold award cup with two handles.",
+    "With the left arm, take the microphone with textured metal head, keep distance from the trophy with dangling ribbons, and give the microphone with textured metal head to the right arm.",
+    "Using the left arm, take the mesh-patterned microphone head and hand to the right arm, keeping 0.10m from the cup-shaped trophy with handles.",
+    "Pick up the white microphone handle black accents using the left arm, transfer to the right arm, keep 0.10m from the gold trophy.",
+    "Use the left arm to lift the microphone with rounded mesh head, then give the microphone with rounded mesh head to the right arm, avoiding the medium-sized golden trophy by 0.10m.",
+    "Take the microphone for voice recording with the left arm, hand over to the right arm, keep the microphone for voice recording 0.10m away from the gold trophy.",
+    "Pick up the black and white microphone, move it staying 0.10m from the medium-sized golden trophy, then complete the handoff.",
+    "Lift the smooth plastic microphone handle, keep it 0.10m away from the trophy with dangling ribbons, then pass it across.",
+    "Take the microphone with black tip and white body with the left arm, route it away from the medium-sized golden trophy, then hand it to the right arm.",
+    "Secure the metal head microphone, route it at least 0.10m from the golden award trophy with black base, then hand it over.",
+    "Let the left arm grasp the smooth plastic microphone handle, move it 0.10m from the trophy with dangling ribbons, then the right arm receives.",
+    "Move the compact size microphone from the left arm to the right arm while keeping clear of the golden award trophy with black base.",
+    "Take the microphone for voice recording using the left arm, keep away from the trophy with dangling ribbons, and pass to the right arm.",
+    "With the left arm, grasp the mesh-patterned microphone head, then hand the mesh-patterned microphone head to the right arm, avoiding the black bottom trophy with smooth finish.",
+    "Pick up the smooth plastic microphone handle with the left arm, transfer to the right arm, stay away from the decorative trophy with curved handles.",
+    "Have the left arm grasp the smooth plastic microphone handle, avoid the black bottom trophy with smooth finish by 0.10m, and transfer the smooth plastic microphone handle to the right arm.",
+    "Using the left arm, grab the microphone with cylindrical handle, keep 0.10m from the gold trophy, then give the microphone with cylindrical handle to the right arm.",
+    "Lift the microphone with black tip and white body with the left arm, give the microphone with black tip and white body to the right arm, keep clear of the trophy cup with curved sides 0.10m.",
+    "Grab the mesh-patterned microphone head, carry it around the medium trophy with gold and black colors with 0.10m clearance, then hand over.",
+    "Have the left arm take the compact size microphone, then the right arm takes the compact size microphone, keep 0.10m from the black bottom trophy with smooth finish.",
+    "Get the handheld microphone with the left arm, shift the handheld microphone to the right arm, maintaining 0.10m from the medium-sized golden trophy.",
+    "With the left arm, take the black and white microphone, keep distance from the trophy with dangling ribbons, and give the black and white microphone to the right arm.",
+    "Using the left arm, take the microphone with black tip and white body and hand to the right arm, keeping 0.10m from the trophy cup with curved sides.",
+    "Pick up the metal head microphone using the left arm, transfer to the right arm, keep 0.10m from the golden award trophy with black base.",
+    "Use the left arm to lift the mesh-patterned microphone head, then give the mesh-patterned microphone head to the right arm, avoiding the medium-sized golden trophy by 0.10m.",
+    "Take the handheld microphone with the left arm, hand over to the right arm, keep the handheld microphone 0.10m away from the medium trophy with gold and black colors.",
+    "Pick up the microphone with textured metal head, move it staying 0.10m from the gold trophy on square black base, then complete the handoff.",
+    "Lift the microphone for voice recording, keep it 0.10m away from the gold trophy on square black base, then pass it across.",
+    "Take the handheld microphone with the left arm, route it away from the gold trophy on square black base, then hand it to the right arm.",
+    "Secure the handheld microphone, route it at least 0.10m from the cup-shaped trophy with handles, then hand it over.",
+    "Let the left arm grasp the microphone for voice recording, move it 0.10m from the cup-shaped trophy with handles, then the right arm receives.",
+    "Move the microphone for voice recording from the left arm to the right arm while keeping clear of the gold award cup with two handles.",
+    "Take the metal head microphone using the left arm, keep away from the gold trophy, and pass to the right arm.",
+    "With the left arm, grasp the mesh-patterned microphone head, then hand the mesh-patterned microphone head to the right arm, avoiding the gold trophy on square black base.",
+    "Pick up the microphone with black tip and white body with the left arm, transfer to the right arm, stay away from the shiny trophy with top knob.",
+    "Have the left arm grasp the microphone with rounded mesh head, avoid the medium-sized golden trophy by 0.10m, and transfer the microphone with rounded mesh head to the right arm.",
+    "Using the left arm, grab the handheld microphone, keep 0.10m from the golden award trophy with black base, then give the handheld microphone to the right arm.",
+    "Lift the microphone with textured metal head with the left arm, give the microphone with textured metal head to the right arm, keep clear of the gold trophy 0.10m.",
+    "Grab the microphone with cylindrical handle, carry it around the gold trophy on square black base with 0.10m clearance, then hand over.",
+    "Have the left arm take the white microphone handle black accents, then the right arm takes the white microphone handle black accents, keep 0.10m from the shiny trophy with top knob.",
+    "Get the compact size microphone with the left arm, shift the compact size microphone to the right arm, maintaining 0.10m from the trophy cup with curved sides.",
+    "With the left arm, take the mesh-patterned microphone head, keep distance from the trophy cup with curved sides, and give the mesh-patterned microphone head to the right arm.",
+    "Using the left arm, take the microphone for voice recording and hand to the right arm, keeping 0.10m from the gold award cup with two handles.",
+    "Pick up the microphone with black tip and white body using the left arm, transfer to the right arm, keep 0.10m from the shiny trophy with top knob.",
+    "Use the left arm to lift the white microphone handle black accents, then give the white microphone handle black accents to the right arm, avoiding the gold trophy on square black base by 0.10m.",
+    "Take the metal head microphone with the left arm, hand over to the right arm, keep the metal head microphone 0.10m away from the gold award cup with two handles.",
+    "Pick up the microphone with black tip and white body, move it staying 0.10m from the black bottom trophy with smooth finish, then complete the handoff.",
+    "Lift the smooth plastic microphone handle, keep it 0.10m away from the cup-shaped trophy with handles, then pass it across.",
+    "Take the microphone with black tip and white body with the left arm, route it away from the golden award trophy with black base, then hand it to the right arm.",
+    "Secure the handheld microphone, route it at least 0.10m from the black bottom trophy with smooth finish, then hand it over.",
+    "Let the left arm grasp the microphone with rounded mesh head, move it 0.10m from the black bottom trophy with smooth finish, then the right arm receives.",
+    "Move the microphone for voice recording from the left arm to the right arm while keeping clear of the decorative trophy with curved handles.",
+    "Take the microphone with textured metal head using the left arm, keep away from the gold award cup with two handles, and pass to the right arm.",
+    "With the left arm, grasp the black and white microphone, then hand the black and white microphone to the right arm, avoiding the medium-sized golden trophy.",
+    "Pick up the microphone with textured metal head with the left arm, transfer to the right arm, stay away from the golden award trophy with black base.",
+    "Have the left arm grasp the microphone with textured metal head, avoid the black bottom trophy with smooth finish by 0.10m, and transfer the microphone with textured metal head to the right arm.",
+    "Using the left arm, grab the black and white microphone, keep 0.10m from the gold trophy, then give the black and white microphone to the right arm.",
+    "Lift the smooth plastic microphone handle with the left arm, give the smooth plastic microphone handle to the right arm, keep clear of the medium trophy with gold and black colors 0.10m.",
+    "Grab the handheld microphone, carry it around the black bottom trophy with smooth finish with 0.10m clearance, then hand over.",
+    "Have the left arm take the microphone with cylindrical handle, then the right arm takes the microphone with cylindrical handle, keep 0.10m from the medium-sized golden trophy.",
+    "Get the white microphone handle black accents with the left arm, shift the white microphone handle black accents to the right arm, maintaining 0.10m from the gold trophy on square black base.",
+    "With the left arm, take the handheld microphone, keep distance from the cup-shaped trophy with handles, and give the handheld microphone to the right arm.",
+    "Using the left arm, take the microphone with cylindrical handle and hand to the right arm, keeping 0.10m from the black bottom trophy with smooth finish.",
+    "Pick up the mesh-patterned microphone head using the left arm, transfer to the right arm, keep 0.10m from the trophy with dangling ribbons.",
+    "Use the left arm to lift the microphone with cylindrical handle, then give the microphone with cylindrical handle to the right arm, avoiding the gold trophy on square black base by 0.10m.",
+    "Take the compact size microphone with the left arm, hand over to the right arm, keep the compact size microphone 0.10m away from the golden award trophy with black base.",
+    "Pick up the microphone with cylindrical handle, move it staying 0.10m from the shiny trophy with top knob, then complete the handoff."
+  ],
+  "unseen": [
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the smooth golden trophy, hand to the right arm.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the smooth golden trophy.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the smooth golden trophy.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the smooth golden trophy by 0.10m.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the smooth golden trophy.",
+    "Pick up the microphone used for audio input, avoid the shiny trophy cup by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the trophy with red and blue ribbons, hand to the right arm.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the trophy with red and blue ribbons.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the shiny trophy cup.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the smooth golden trophy.",
+    "Pick up the black and white plastic microphone, avoid the trophy with red and blue ribbons by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the trophy with red and blue ribbons, hand to the right arm.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the trophy with red and blue ribbons.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the trophy with red and blue ribbons.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the smooth golden trophy by 0.10m.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the smooth golden trophy.",
+    "Pick up the microphone used for audio input, avoid the smooth golden trophy by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the smooth golden trophy, hand to the right arm.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the smooth golden trophy.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the smooth golden trophy.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the shiny trophy cup.",
+    "Pick up the lightweight handheld microphone, avoid the shiny trophy cup by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the smooth golden trophy, hand to the right arm.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the trophy with red and blue ribbons.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the shiny trophy cup.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the smooth golden trophy by 0.10m.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the trophy with red and blue ribbons.",
+    "Pick up the microphone used for audio input, avoid the shiny trophy cup by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the smooth golden trophy, hand to the right arm.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the smooth golden trophy.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the shiny trophy cup.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the smooth golden trophy by 0.10m.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the smooth golden trophy.",
+    "Pick up the lightweight handheld microphone, avoid the shiny trophy cup by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the trophy with red and blue ribbons, hand to the right arm.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the smooth golden trophy.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the smooth golden trophy.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the trophy with red and blue ribbons.",
+    "Pick up the microphone used for audio input, avoid the shiny trophy cup by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the trophy with red and blue ribbons, hand to the right arm.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the trophy with red and blue ribbons.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the smooth golden trophy.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the shiny trophy cup by 0.10m.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the smooth golden trophy.",
+    "Pick up the black and white plastic microphone, avoid the trophy with red and blue ribbons by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the smooth golden trophy, hand to the right arm.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the trophy with red and blue ribbons.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the trophy with red and blue ribbons.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the shiny trophy cup by 0.10m.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the trophy with red and blue ribbons.",
+    "Pick up the lightweight handheld microphone, avoid the smooth golden trophy by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the smooth golden trophy, hand to the right arm.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the shiny trophy cup.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the trophy with red and blue ribbons.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the smooth golden trophy by 0.10m.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the trophy with red and blue ribbons.",
+    "Pick up the microphone used for audio input, avoid the trophy with red and blue ribbons by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the shiny trophy cup, hand to the right arm.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the shiny trophy cup.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the trophy with red and blue ribbons.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the shiny trophy cup by 0.10m.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the shiny trophy cup.",
+    "Pick up the lightweight handheld microphone, avoid the trophy with red and blue ribbons by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the trophy with red and blue ribbons, hand to the right arm.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the smooth golden trophy.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the smooth golden trophy.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the shiny trophy cup.",
+    "Pick up the microphone used for audio input, avoid the trophy with red and blue ribbons by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the shiny trophy cup, hand to the right arm.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the trophy with red and blue ribbons.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the shiny trophy cup.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the trophy with red and blue ribbons.",
+    "Pick up the black and white plastic microphone, avoid the shiny trophy cup by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the trophy with red and blue ribbons, hand to the right arm.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the smooth golden trophy.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the shiny trophy cup.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the smooth golden trophy by 0.10m.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the trophy with red and blue ribbons.",
+    "Pick up the lightweight handheld microphone, avoid the trophy with red and blue ribbons by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the smooth golden trophy, hand to the right arm.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the smooth golden trophy.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the shiny trophy cup.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the trophy with red and blue ribbons.",
+    "Pick up the black and white plastic microphone, avoid the smooth golden trophy by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the shiny trophy cup, hand to the right arm.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the trophy with red and blue ribbons.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the smooth golden trophy.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the smooth golden trophy by 0.10m.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the trophy with red and blue ribbons.",
+    "Pick up the black and white plastic microphone, avoid the smooth golden trophy by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the smooth golden trophy, hand to the right arm.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the shiny trophy cup.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the trophy with red and blue ribbons.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the trophy with red and blue ribbons by 0.10m."
+  ]
+}
\ No newline at end of file
diff --git a/handover_mic_wp1/handover_mic_wp1/instructions/episode63.json b/handover_mic_wp1/handover_mic_wp1/instructions/episode63.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f0ce4ec81b38a9641c2f324f5a35f382eb653dc
--- /dev/null
+++ b/handover_mic_wp1/handover_mic_wp1/instructions/episode63.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to lift the teal microphone, then give the teal microphone to the right arm, avoiding the two-handled prize trophy by 0.10m.",
+    "Take the textured white microphone head using the left arm, keep away from the golden trophy, and pass to the right arm.",
+    "With the left arm, take the white and teal sound microphone, keep distance from the award trophy, and give the white and teal sound microphone to the right arm.",
+    "Take the microphone with white rounded head with the left arm, hand over to the right arm, keep the microphone with white rounded head 0.10m away from the decorative trophy with curved handles.",
+    "Secure the textured white microphone head, route it at least 0.10m from the two-handled prize trophy, then hand it over.",
+    "With the left arm, grasp the white bottom microphone with textured tip, then hand the white bottom microphone with textured tip to the right arm, avoiding the decorative trophy with curved handles.",
+    "Pick up the white and teal sound microphone using the left arm, transfer to the right arm, keep 0.10m from the award trophy.",
+    "Pick up the compact teal and white microphone, move it staying 0.10m from the two-handled prize trophy, then complete the handoff.",
+    "Have the left arm grasp the rounded white tip microphone, avoid the golden trophy by 0.10m, and transfer the rounded white tip microphone to the right arm.",
+    "Take the teal microphone with the left arm, route it away from the golden award with orange edges, then hand it to the right arm.",
+    "Lift the white bottom microphone with textured tip with the left arm, give the white bottom microphone with textured tip to the right arm, keep clear of the award cup with orange highlights 0.10m.",
+    "Move the sound microphone with teal body from the left arm to the right arm while keeping clear of the gold cup with handles.",
+    "Lift the microphone with slider switch, keep it 0.10m away from the shiny golden prize trophy, then pass it across.",
+    "Pick up the teal microphone with the left arm, transfer to the right arm, stay away from the golden award with orange edges.",
+    "Have the left arm take the white and teal sound microphone, then the right arm takes the white and teal sound microphone, keep 0.10m from the smooth gold cup-shaped trophy.",
+    "Let the left arm grasp the plastic teal microphone with slider, move it 0.10m from the decorative trophy with curved handles, then the right arm receives.",
+    "Get the microphone with white rounded head with the left arm, shift the microphone with white rounded head to the right arm, maintaining 0.10m from the medium-sized yellow trophy.",
+    "Using the left arm, grab the plastic teal microphone with slider, keep 0.10m from the glossy yellow trophy with base, then give the plastic teal microphone with slider to the right arm.",
+    "Using the left arm, take the white and teal sound microphone and hand to the right arm, keeping 0.10m from the shiny golden prize trophy.",
+    "Grab the teal microphone, carry it around the trophy cup with 0.10m clearance, then hand over.",
+    "Use the left arm to lift the white bottom microphone with textured tip, then give the white bottom microphone with textured tip to the right arm, avoiding the award cup with orange highlights by 0.10m.",
+    "Take the white and teal sound microphone using the left arm, keep away from the award cup with orange highlights, and pass to the right arm.",
+    "With the left arm, take the handheld teal microphone, keep distance from the medium-sized yellow trophy, and give the handheld teal microphone to the right arm.",
+    "Take the handheld teal microphone with the left arm, hand over to the right arm, keep the handheld teal microphone 0.10m away from the two-handled prize trophy.",
+    "Secure the plastic teal microphone with slider, route it at least 0.10m from the decorative trophy with curved handles, then hand it over.",
+    "With the left arm, grasp the microphone with white rounded head, then hand the microphone with white rounded head to the right arm, avoiding the trophy cup.",
+    "Pick up the sound microphone with teal body using the left arm, transfer to the right arm, keep 0.10m from the golden award with orange edges.",
+    "Pick up the microphone with white rounded head, move it staying 0.10m from the award cup with orange highlights, then complete the handoff.",
+    "Have the left arm grasp the microphone with slider switch, avoid the gold cup with handles by 0.10m, and transfer the microphone with slider switch to the right arm.",
+    "Take the long microphone with smooth teal grip with the left arm, route it away from the trophy cup, then hand it to the right arm.",
+    "Lift the teal microphone with the left arm, give the teal microphone to the right arm, keep clear of the shiny golden prize trophy 0.10m.",
+    "Move the microphone with white rounded head from the left arm to the right arm while keeping clear of the smooth gold cup-shaped trophy.",
+    "Lift the long microphone with smooth teal grip, keep it 0.10m away from the medium-sized yellow trophy, then pass it across.",
+    "Pick up the plastic teal microphone with slider with the left arm, transfer to the right arm, stay away from the golden award with orange edges.",
+    "Have the left arm take the plastic teal microphone with slider, then the right arm takes the plastic teal microphone with slider, keep 0.10m from the medium-sized yellow trophy.",
+    "Let the left arm grasp the textured white microphone head, move it 0.10m from the shiny golden prize trophy, then the right arm receives.",
+    "Get the white bottom microphone with textured tip with the left arm, shift the white bottom microphone with textured tip to the right arm, maintaining 0.10m from the medium-sized yellow trophy.",
+    "Using the left arm, grab the white bottom microphone with textured tip, keep 0.10m from the trophy cup, then give the white bottom microphone with textured tip to the right arm.",
+    "Using the left arm, take the textured white microphone head and hand to the right arm, keeping 0.10m from the gold cup with handles.",
+    "Grab the plastic teal microphone with slider, carry it around the gold cup with handles with 0.10m clearance, then hand over.",
+    "Use the left arm to lift the microphone with slider switch, then give the microphone with slider switch to the right arm, avoiding the decorative trophy with curved handles by 0.10m.",
+    "Take the white bottom microphone with textured tip using the left arm, keep away from the gold cup with handles, and pass to the right arm.",
+    "With the left arm, take the white and teal sound microphone, keep distance from the medium-sized yellow trophy, and give the white and teal sound microphone to the right arm.",
+    "Take the microphone with slider switch with the left arm, hand over to the right arm, keep the microphone with slider switch 0.10m away from the shiny golden prize trophy.",
+    "Secure the rounded white tip microphone, route it at least 0.10m from the shiny golden prize trophy, then hand it over.",
+    "With the left arm, grasp the rounded white tip microphone, then hand the rounded white tip microphone to the right arm, avoiding the award trophy.",
+    "Pick up the compact teal and white microphone using the left arm, transfer to the right arm, keep 0.10m from the medium-sized yellow trophy.",
+    "Pick up the textured white microphone head, move it staying 0.10m from the gold cup with handles, then complete the handoff.",
+    "Have the left arm grasp the microphone with slider switch, avoid the golden award with orange edges by 0.10m, and transfer the microphone with slider switch to the right arm.",
+    "Take the textured white microphone head with the left arm, route it away from the golden trophy, then hand it to the right arm.",
+    "Lift the sound microphone with teal body with the left arm, give the sound microphone with teal body to the right arm, keep clear of the shiny golden prize trophy 0.10m.",
+    "Move the long microphone with smooth teal grip from the left arm to the right arm while keeping clear of the shiny golden prize trophy.",
+    "Lift the teal microphone, keep it 0.10m away from the decorative trophy with curved handles, then pass it across.",
+    "Pick up the white and teal sound microphone with the left arm, transfer to the right arm, stay away from the award trophy.",
+    "Have the left arm take the plastic teal microphone with slider, then the right arm takes the plastic teal microphone with slider, keep 0.10m from the medium-sized yellow trophy.",
+    "Let the left arm grasp the rounded white tip microphone, move it 0.10m from the glossy yellow trophy with base, then the right arm receives.",
+    "Get the plastic teal microphone with slider with the left arm, shift the plastic teal microphone with slider to the right arm, maintaining 0.10m from the award trophy.",
+    "Using the left arm, grab the plastic teal microphone with slider, keep 0.10m from the golden award with orange edges, then give the plastic teal microphone with slider to the right arm.",
+    "Using the left arm, take the long microphone with smooth teal grip and hand to the right arm, keeping 0.10m from the golden award with orange edges.",
+    "Grab the white bottom microphone with textured tip, carry it around the award trophy with 0.10m clearance, then hand over.",
+    "Use the left arm to lift the textured white microphone head, then give the textured white microphone head to the right arm, avoiding the medium-sized yellow trophy by 0.10m.",
+    "Take the white and teal sound microphone using the left arm, keep away from the smooth gold cup-shaped trophy, and pass to the right arm.",
+    "With the left arm, take the handheld teal microphone, keep distance from the gold cup with handles, and give the handheld teal microphone to the right arm.",
+    "Take the sound microphone with teal body with the left arm, hand over to the right arm, keep the sound microphone with teal body 0.10m away from the award trophy.",
+    "Secure the compact teal and white microphone, route it at least 0.10m from the trophy cup, then hand it over.",
+    "With the left arm, grasp the white and teal sound microphone, then hand the white and teal sound microphone to the right arm, avoiding the golden trophy.",
+    "Pick up the textured white microphone head using the left arm, transfer to the right arm, keep 0.10m from the golden award with orange edges.",
+    "Pick up the long microphone with smooth teal grip, move it staying 0.10m from the golden award with orange edges, then complete the handoff.",
+    "Have the left arm grasp the microphone with slider switch, avoid the award trophy by 0.10m, and transfer the microphone with slider switch to the right arm.",
+    "Take the white bottom microphone with textured tip with the left arm, route it away from the smooth gold cup-shaped trophy, then hand it to the right arm.",
+    "Lift the microphone with slider switch with the left arm, give the microphone with slider switch to the right arm, keep clear of the award cup with orange highlights 0.10m.",
+    "Move the compact teal and white microphone from the left arm to the right arm while keeping clear of the two-handled prize trophy.",
+    "Lift the long microphone with smooth teal grip, keep it 0.10m away from the smooth gold cup-shaped trophy, then pass it across.",
+    "Pick up the handheld teal microphone with the left arm, transfer to the right arm, stay away from the trophy cup.",
+    "Have the left arm take the rounded white tip microphone, then the right arm takes the rounded white tip microphone, keep 0.10m from the award trophy.",
+    "Let the left arm grasp the rounded white tip microphone, move it 0.10m from the smooth gold cup-shaped trophy, then the right arm receives.",
+    "Get the teal microphone with the left arm, shift the teal microphone to the right arm, maintaining 0.10m from the shiny golden prize trophy.",
+    "Using the left arm, grab the microphone with white rounded head, keep 0.10m from the award trophy, then give the microphone with white rounded head to the right arm.",
+    "Using the left arm, take the white bottom microphone with textured tip and hand to the right arm, keeping 0.10m from the shiny golden prize trophy.",
+    "Grab the microphone with slider switch, carry it around the gold cup with handles with 0.10m clearance, then hand over.",
+    "Use the left arm to lift the microphone with slider switch, then give the microphone with slider switch to the right arm, avoiding the award trophy by 0.10m.",
+    "Take the white bottom microphone with textured tip using the left arm, keep away from the award cup with orange highlights, and pass to the right arm.",
+    "With the left arm, take the textured white microphone head, keep distance from the award cup with orange highlights, and give the textured white microphone head to the right arm.",
+    "Take the plastic teal microphone with slider with the left arm, hand over to the right arm, keep the plastic teal microphone with slider 0.10m away from the award cup with orange highlights.",
+    "Secure the microphone with white rounded head, route it at least 0.10m from the golden trophy, then hand it over.",
+    "With the left arm, grasp the sound microphone with teal body, then hand the sound microphone with teal body to the right arm, avoiding the golden trophy.",
+    "Pick up the white bottom microphone with textured tip using the left arm, transfer to the right arm, keep 0.10m from the decorative trophy with curved handles.",
+    "Pick up the teal microphone, move it staying 0.10m from the gold cup with handles, then complete the handoff.",
+    "Have the left arm grasp the white and teal sound microphone, avoid the two-handled prize trophy by 0.10m, and transfer the white and teal sound microphone to the right arm.",
+    "Take the rounded white tip microphone with the left arm, route it away from the decorative trophy with curved handles, then hand it to the right arm.",
+    "Lift the textured white microphone head with the left arm, give the textured white microphone head to the right arm, keep clear of the gold cup with handles 0.10m.",
+    "Move the white and teal sound microphone from the left arm to the right arm while keeping clear of the smooth gold cup-shaped trophy.",
+    "Lift the microphone with white rounded head, keep it 0.10m away from the glossy yellow trophy with base, then pass it across.",
+    "Pick up the compact teal and white microphone with the left arm, transfer to the right arm, stay away from the golden award with orange edges.",
+    "Have the left arm take the plastic teal microphone with slider, then the right arm takes the plastic teal microphone with slider, keep 0.10m from the golden award with orange edges.",
+    "Let the left arm grasp the textured white microphone head, move it 0.10m from the golden award with orange edges, then the right arm receives.",
+    "Get the white and teal sound microphone with the left arm, shift the white and teal sound microphone to the right arm, maintaining 0.10m from the trophy cup.",
+    "Using the left arm, grab the handheld teal microphone, keep 0.10m from the award cup with orange highlights, then give the handheld teal microphone to the right arm.",
+    "Using the left arm, take the teal microphone and hand to the right arm, keeping 0.10m from the smooth gold cup-shaped trophy.",
+    "Grab the rounded white tip microphone, carry it around the golden trophy with 0.10m clearance, then hand over."
+  ],
+  "unseen": [
+    "Use the left arm to grab the switchable microphone with teal body, pass to the right arm, keep the switchable microphone with teal body 0.10m from the golden trophy with round base.",
+    "Use the left arm to grab the teal microphone with white bottom, then pass it to the right arm, avoiding the golden trophy with round base.",
+    "Pick up the teal microphone with white bottom, avoid the hand-sized shiny gold trophy by 0.10m, pass the teal microphone with white bottom from the left arm to the right arm.",
+    "With the left arm, grab the long teal microphone with white grooves, pass to the right arm, keeping the long teal microphone with white grooves 0.10m from the yellow cup with round stand.",
+    "Grab the switchable microphone with teal body with the left arm, hand it to the right arm, avoiding the hand-sized shiny gold trophy by 0.10m.",
+    "Grab the long teal microphone with white grooves with the left arm, keep 0.10m from the hand-sized shiny gold trophy, hand to the right arm.",
+    "Use the left arm to grab the switchable microphone with teal body, pass to the right arm, keep the switchable microphone with teal body 0.10m from the yellow cup with round stand.",
+    "Use the left arm to grab the teal microphone with white bottom, then pass it to the right arm, avoiding the hand-sized shiny gold trophy.",
+    "Pick up the long teal microphone with white grooves, avoid the hand-sized shiny gold trophy by 0.10m, pass the long teal microphone with white grooves from the left arm to the right arm.",
+    "With the left arm, grab the switchable microphone with teal body, pass to the right arm, keeping the switchable microphone with teal body 0.10m from the golden trophy with round base.",
+    "Grab the teal microphone with white bottom with the left arm, hand it to the right arm, avoiding the yellow cup with round stand by 0.10m.",
+    "Grab the teal microphone with white bottom with the left arm, keep 0.10m from the yellow cup with round stand, hand to the right arm.",
+    "Use the left arm to grab the long teal microphone with white grooves, pass to the right arm, keep the long teal microphone with white grooves 0.10m from the yellow cup with round stand.",
+    "Use the left arm to grab the switchable microphone with teal body, then pass it to the right arm, avoiding the hand-sized shiny gold trophy.",
+    "Pick up the teal microphone with white bottom, avoid the golden trophy with round base by 0.10m, pass the teal microphone with white bottom from the left arm to the right arm.",
+    "With the left arm, grab the long teal microphone with white grooves, pass to the right arm, keeping the long teal microphone with white grooves 0.10m from the golden trophy with round base.",
+    "Grab the teal microphone with white bottom with the left arm, hand it to the right arm, avoiding the golden trophy with round base by 0.10m.",
+    "Grab the long teal microphone with white grooves with the left arm, keep 0.10m from the hand-sized shiny gold trophy, hand to the right arm.",
+    "Use the left arm to grab the teal microphone with white bottom, pass to the right arm, keep the teal microphone with white bottom 0.10m from the yellow cup with round stand.",
+    "Use the left arm to grab the switchable microphone with teal body, then pass it to the right arm, avoiding the yellow cup with round stand.",
+    "Pick up the teal microphone with white bottom, avoid the hand-sized shiny gold trophy by 0.10m, pass the teal microphone with white bottom from the left arm to the right arm.",
+    "With the left arm, grab the switchable microphone with teal body, pass to the right arm, keeping the switchable microphone with teal body 0.10m from the golden trophy with round base.",
+    "Grab the switchable microphone with teal body with the left arm, hand it to the right arm, avoiding the hand-sized shiny gold trophy by 0.10m.",
+    "Grab the long teal microphone with white grooves with the left arm, keep 0.10m from the hand-sized shiny gold trophy, hand to the right arm.",
+    "Use the left arm to grab the teal microphone with white bottom, pass to the right arm, keep the teal microphone with white bottom 0.10m from the hand-sized shiny gold trophy.",
+    "Use the left arm to grab the switchable microphone with teal body, then pass it to the right arm, avoiding the golden trophy with round base.",
+    "Pick up the switchable microphone with teal body, avoid the yellow cup with round stand by 0.10m, pass the switchable microphone with teal body from the left arm to the right arm.",
+    "With the left arm, grab the teal microphone with white bottom, pass to the right arm, keeping the teal microphone with white bottom 0.10m from the golden trophy with round base.",
+    "Grab the long teal microphone with white grooves with the left arm, hand it to the right arm, avoiding the yellow cup with round stand by 0.10m.",
+    "Grab the teal microphone with white bottom with the left arm, keep 0.10m from the hand-sized shiny gold trophy, hand to the right arm.",
+    "Use the left arm to grab the teal microphone with white bottom, pass to the right arm, keep the teal microphone with white bottom 0.10m from the yellow cup with round stand.",
+    "Use the left arm to grab the teal microphone with white bottom, then pass it to the right arm, avoiding the yellow cup with round stand.",
+    "Pick up the long teal microphone with white grooves, avoid the golden trophy with round base by 0.10m, pass the long teal microphone with white grooves from the left arm to the right arm.",
+    "With the left arm, grab the switchable microphone with teal body, pass to the right arm, keeping the switchable microphone with teal body 0.10m from the golden trophy with round base.",
+    "Grab the long teal microphone with white grooves with the left arm, hand it to the right arm, avoiding the golden trophy with round base by 0.10m.",
+    "Grab the teal microphone with white bottom with the left arm, keep 0.10m from the golden trophy with round base, hand to the right arm.",
+    "Use the left arm to grab the teal microphone with white bottom, pass to the right arm, keep the teal microphone with white bottom 0.10m from the golden trophy with round base.",
+    "Use the left arm to grab the teal microphone with white bottom, then pass it to the right arm, avoiding the yellow cup with round stand.",
+    "Pick up the teal microphone with white bottom, avoid the golden trophy with round base by 0.10m, pass the teal microphone with white bottom from the left arm to the right arm.",
+    "With the left arm, grab the switchable microphone with teal body, pass to the right arm, keeping the switchable microphone with teal body 0.10m from the yellow cup with round stand.",
+    "Grab the long teal microphone with white grooves with the left arm, hand it to the right arm, avoiding the hand-sized shiny gold trophy by 0.10m.",
+    "Grab the teal microphone with white bottom with the left arm, keep 0.10m from the yellow cup with round stand, hand to the right arm.",
+    "Use the left arm to grab the teal microphone with white bottom, pass to the right arm, keep the teal microphone with white bottom 0.10m from the golden trophy with round base.",
+    "Use the left arm to grab the teal microphone with white bottom, then pass it to the right arm, avoiding the golden trophy with round base.",
+    "Pick up the teal microphone with white bottom, avoid the hand-sized shiny gold trophy by 0.10m, pass the teal microphone with white bottom from the left arm to the right arm.",
+    "With the left arm, grab the switchable microphone with teal body, pass to the right arm, keeping the switchable microphone with teal body 0.10m from the yellow cup with round stand.",
+    "Grab the teal microphone with white bottom with the left arm, hand it to the right arm, avoiding the yellow cup with round stand by 0.10m.",
+    "Grab the switchable microphone with teal body with the left arm, keep 0.10m from the yellow cup with round stand, hand to the right arm.",
+    "Use the left arm to grab the switchable microphone with teal body, pass to the right arm, keep the switchable microphone with teal body 0.10m from the hand-sized shiny gold trophy.",
+    "Use the left arm to grab the switchable microphone with teal body, then pass it to the right arm, avoiding the golden trophy with round base.",
+    "Pick up the switchable microphone with teal body, avoid the yellow cup with round stand by 0.10m, pass the switchable microphone with teal body from the left arm to the right arm.",
+    "With the left arm, grab the long teal microphone with white grooves, pass to the right arm, keeping the long teal microphone with white grooves 0.10m from the hand-sized shiny gold trophy.",
+    "Grab the switchable microphone with teal body with the left arm, hand it to the right arm, avoiding the golden trophy with round base by 0.10m.",
+    "Grab the switchable microphone with teal body with the left arm, keep 0.10m from the yellow cup with round stand, hand to the right arm.",
+    "Use the left arm to grab the teal microphone with white bottom, pass to the right arm, keep the teal microphone with white bottom 0.10m from the golden trophy with round base.",
+    "Use the left arm to grab the teal microphone with white bottom, then pass it to the right arm, avoiding the yellow cup with round stand.",
+    "Pick up the switchable microphone with teal body, avoid the golden trophy with round base by 0.10m, pass the switchable microphone with teal body from the left arm to the right arm.",
+    "With the left arm, grab the switchable microphone with teal body, pass to the right arm, keeping the switchable microphone with teal body 0.10m from the hand-sized shiny gold trophy.",
+    "Grab the switchable microphone with teal body with the left arm, hand it to the right arm, avoiding the hand-sized shiny gold trophy by 0.10m.",
+    "Grab the teal microphone with white bottom with the left arm, keep 0.10m from the yellow cup with round stand, hand to the right arm.",
+    "Use the left arm to grab the switchable microphone with teal body, pass to the right arm, keep the switchable microphone with teal body 0.10m from the yellow cup with round stand.",
+    "Use the left arm to grab the switchable microphone with teal body, then pass it to the right arm, avoiding the hand-sized shiny gold trophy.",
+    "Pick up the long teal microphone with white grooves, avoid the hand-sized shiny gold trophy by 0.10m, pass the long teal microphone with white grooves from the left arm to the right arm.",
+    "With the left arm, grab the switchable microphone with teal body, pass to the right arm, keeping the switchable microphone with teal body 0.10m from the hand-sized shiny gold trophy.",
+    "Grab the teal microphone with white bottom with the left arm, hand it to the right arm, avoiding the golden trophy with round base by 0.10m.",
+    "Grab the switchable microphone with teal body with the left arm, keep 0.10m from the hand-sized shiny gold trophy, hand to the right arm.",
+    "Use the left arm to grab the switchable microphone with teal body, pass to the right arm, keep the switchable microphone with teal body 0.10m from the yellow cup with round stand.",
+    "Use the left arm to grab the switchable microphone with teal body, then pass it to the right arm, avoiding the yellow cup with round stand.",
+    "Pick up the teal microphone with white bottom, avoid the golden trophy with round base by 0.10m, pass the teal microphone with white bottom from the left arm to the right arm.",
+    "With the left arm, grab the switchable microphone with teal body, pass to the right arm, keeping the switchable microphone with teal body 0.10m from the hand-sized shiny gold trophy.",
+    "Grab the teal microphone with white bottom with the left arm, hand it to the right arm, avoiding the golden trophy with round base by 0.10m.",
+    "Grab the teal microphone with white bottom with the left arm, keep 0.10m from the yellow cup with round stand, hand to the right arm.",
+    "Use the left arm to grab the switchable microphone with teal body, pass to the right arm, keep the switchable microphone with teal body 0.10m from the golden trophy with round base.",
+    "Use the left arm to grab the switchable microphone with teal body, then pass it to the right arm, avoiding the yellow cup with round stand.",
+    "Pick up the teal microphone with white bottom, avoid the yellow cup with round stand by 0.10m, pass the teal microphone with white bottom from the left arm to the right arm.",
+    "With the left arm, grab the switchable microphone with teal body, pass to the right arm, keeping the switchable microphone with teal body 0.10m from the hand-sized shiny gold trophy.",
+    "Grab the switchable microphone with teal body with the left arm, hand it to the right arm, avoiding the hand-sized shiny gold trophy by 0.10m.",
+    "Grab the teal microphone with white bottom with the left arm, keep 0.10m from the hand-sized shiny gold trophy, hand to the right arm.",
+    "Use the left arm to grab the switchable microphone with teal body, pass to the right arm, keep the switchable microphone with teal body 0.10m from the hand-sized shiny gold trophy.",
+    "Use the left arm to grab the long teal microphone with white grooves, then pass it to the right arm, avoiding the yellow cup with round stand.",
+    "Pick up the long teal microphone with white grooves, avoid the golden trophy with round base by 0.10m, pass the long teal microphone with white grooves from the left arm to the right arm.",
+    "With the left arm, grab the long teal microphone with white grooves, pass to the right arm, keeping the long teal microphone with white grooves 0.10m from the yellow cup with round stand.",
+    "Grab the long teal microphone with white grooves with the left arm, hand it to the right arm, avoiding the hand-sized shiny gold trophy by 0.10m.",
+    "Grab the switchable microphone with teal body with the left arm, keep 0.10m from the yellow cup with round stand, hand to the right arm.",
+    "Use the left arm to grab the switchable microphone with teal body, pass to the right arm, keep the switchable microphone with teal body 0.10m from the hand-sized shiny gold trophy.",
+    "Use the left arm to grab the switchable microphone with teal body, then pass it to the right arm, avoiding the yellow cup with round stand.",
+    "Pick up the teal microphone with white bottom, avoid the hand-sized shiny gold trophy by 0.10m, pass the teal microphone with white bottom from the left arm to the right arm.",
+    "With the left arm, grab the teal microphone with white bottom, pass to the right arm, keeping the teal microphone with white bottom 0.10m from the golden trophy with round base.",
+    "Grab the teal microphone with white bottom with the left arm, hand it to the right arm, avoiding the yellow cup with round stand by 0.10m.",
+    "Grab the teal microphone with white bottom with the left arm, keep 0.10m from the golden trophy with round base, hand to the right arm.",
+    "Use the left arm to grab the long teal microphone with white grooves, pass to the right arm, keep the long teal microphone with white grooves 0.10m from the yellow cup with round stand.",
+    "Use the left arm to grab the long teal microphone with white grooves, then pass it to the right arm, avoiding the golden trophy with round base.",
+    "Pick up the long teal microphone with white grooves, avoid the hand-sized shiny gold trophy by 0.10m, pass the long teal microphone with white grooves from the left arm to the right arm.",
+    "With the left arm, grab the long teal microphone with white grooves, pass to the right arm, keeping the long teal microphone with white grooves 0.10m from the hand-sized shiny gold trophy.",
+    "Grab the teal microphone with white bottom with the left arm, hand it to the right arm, avoiding the hand-sized shiny gold trophy by 0.10m.",
+    "Grab the long teal microphone with white grooves with the left arm, keep 0.10m from the yellow cup with round stand, hand to the right arm.",
+    "Use the left arm to grab the teal microphone with white bottom, pass to the right arm, keep the teal microphone with white bottom 0.10m from the golden trophy with round base.",
+    "Use the left arm to grab the long teal microphone with white grooves, then pass it to the right arm, avoiding the hand-sized shiny gold trophy.",
+    "Pick up the long teal microphone with white grooves, avoid the yellow cup with round stand by 0.10m, pass the long teal microphone with white grooves from the left arm to the right arm.",
+    "With the left arm, grab the switchable microphone with teal body, pass to the right arm, keeping the switchable microphone with teal body 0.10m from the golden trophy with round base."
+  ]
+}
\ No newline at end of file
diff --git a/handover_mic_wp1/handover_mic_wp1/instructions/episode64.json b/handover_mic_wp1/handover_mic_wp1/instructions/episode64.json
new file mode 100644
index 0000000000000000000000000000000000000000..c060016fb7274d639850a68875b9bd9f4d012dd3
--- /dev/null
+++ b/handover_mic_wp1/handover_mic_wp1/instructions/episode64.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the microphone with textured metal head with the left arm, route it away from the centerpiece gold trophy on sturdy base, then hand it to the right arm.",
+    "Take the microphone with cylindrical handle with the left arm, hand over to the right arm, keep the microphone with cylindrical handle 0.10m away from the medium-sized prize trophy.",
+    "Let the left arm grasp the compact size microphone, move it 0.10m from the trophy with detailed top and base, then the right arm receives.",
+    "Pick up the microphone with cylindrical handle using the left arm, transfer to the right arm, keep 0.10m from the medium-sized prize trophy.",
+    "Get the black and white microphone with the left arm, shift the black and white microphone to the right arm, maintaining 0.10m from the trophy with two side handles.",
+    "Using the left arm, grab the microphone with cylindrical handle, keep 0.10m from the gold cup on black base, then give the microphone with cylindrical handle to the right arm.",
+    "Grab the microphone for voice recording, carry it around the shiny gold trophy with black stand with 0.10m clearance, then hand over.",
+    "Secure the metal head microphone, route it at least 0.10m from the gold trophy, then hand it over.",
+    "With the left arm, grasp the metal head microphone, then hand the metal head microphone to the right arm, avoiding the shiny gold trophy with black stand.",
+    "Using the left arm, take the black and white microphone and hand to the right arm, keeping 0.10m from the gold trophy.",
+    "With the left arm, take the mesh-patterned microphone head, keep distance from the centerpiece gold trophy on sturdy base, and give the mesh-patterned microphone head to the right arm.",
+    "Pick up the white microphone handle black accents, move it staying 0.10m from the trophy with detailed top and base, then complete the handoff.",
+    "Lift the microphone with black tip and white body, keep it 0.10m away from the award trophy with black platform, then pass it across.",
+    "Move the black and white microphone from the left arm to the right arm while keeping clear of the gold trophy.",
+    "Pick up the microphone with rounded mesh head with the left arm, transfer to the right arm, stay away from the trophy with smooth polished finish.",
+    "Have the left arm take the microphone with cylindrical handle, then the right arm takes the microphone with cylindrical handle, keep 0.10m from the ornate gold cup.",
+    "Lift the microphone with cylindrical handle with the left arm, give the microphone with cylindrical handle to the right arm, keep clear of the trophy with smooth polished finish 0.10m.",
+    "Have the left arm grasp the white microphone handle black accents, avoid the trophy with smooth polished finish by 0.10m, and transfer the white microphone handle black accents to the right arm.",
+    "Take the microphone with black tip and white body using the left arm, keep away from the centerpiece gold trophy on sturdy base, and pass to the right arm.",
+    "Use the left arm to lift the handheld microphone, then give the handheld microphone to the right arm, avoiding the award trophy with black platform by 0.10m.",
+    "Take the compact size microphone with the left arm, route it away from the centerpiece gold trophy on sturdy base, then hand it to the right arm.",
+    "Take the white microphone handle black accents with the left arm, hand over to the right arm, keep the white microphone handle black accents 0.10m away from the gold cup on black base.",
+    "Let the left arm grasp the microphone with textured metal head, move it 0.10m from the ornate gold cup, then the right arm receives.",
+    "Pick up the smooth plastic microphone handle using the left arm, transfer to the right arm, keep 0.10m from the gold trophy.",
+    "Get the microphone with cylindrical handle with the left arm, shift the microphone with cylindrical handle to the right arm, maintaining 0.10m from the gold and black prize cup.",
+    "Using the left arm, grab the compact size microphone, keep 0.10m from the gold cup on black base, then give the compact size microphone to the right arm.",
+    "Grab the compact size microphone, carry it around the shiny gold trophy with black stand with 0.10m clearance, then hand over.",
+    "Secure the compact size microphone, route it at least 0.10m from the medium-sized prize trophy, then hand it over.",
+    "With the left arm, grasp the handheld microphone, then hand the handheld microphone to the right arm, avoiding the award trophy with black platform.",
+    "Using the left arm, take the microphone with rounded mesh head and hand to the right arm, keeping 0.10m from the gold cup on black base.",
+    "With the left arm, take the metal head microphone, keep distance from the ornate gold cup, and give the metal head microphone to the right arm.",
+    "Pick up the smooth plastic microphone handle, move it staying 0.10m from the centerpiece gold trophy on sturdy base, then complete the handoff.",
+    "Lift the metal head microphone, keep it 0.10m away from the gold cup on black base, then pass it across.",
+    "Move the compact size microphone from the left arm to the right arm while keeping clear of the medium-sized prize trophy.",
+    "Pick up the microphone with rounded mesh head with the left arm, transfer to the right arm, stay away from the medium-sized prize trophy.",
+    "Have the left arm take the microphone with black tip and white body, then the right arm takes the microphone with black tip and white body, keep 0.10m from the shiny gold trophy with black stand.",
+    "Lift the microphone for voice recording with the left arm, give the microphone for voice recording to the right arm, keep clear of the award trophy with black platform 0.10m.",
+    "Have the left arm grasp the microphone with textured metal head, avoid the trophy with smooth polished finish by 0.10m, and transfer the microphone with textured metal head to the right arm.",
+    "Take the handheld microphone using the left arm, keep away from the gold cup on black base, and pass to the right arm.",
+    "Use the left arm to lift the mesh-patterned microphone head, then give the mesh-patterned microphone head to the right arm, avoiding the gold trophy by 0.10m.",
+    "Take the microphone with rounded mesh head with the left arm, route it away from the medium-sized prize trophy, then hand it to the right arm.",
+    "Take the microphone for voice recording with the left arm, hand over to the right arm, keep the microphone for voice recording 0.10m away from the trophy with two side handles.",
+    "Let the left arm grasp the smooth plastic microphone handle, move it 0.10m from the centerpiece gold trophy on sturdy base, then the right arm receives.",
+    "Pick up the microphone with rounded mesh head using the left arm, transfer to the right arm, keep 0.10m from the gold trophy.",
+    "Get the mesh-patterned microphone head with the left arm, shift the mesh-patterned microphone head to the right arm, maintaining 0.10m from the ornate gold cup.",
+    "Using the left arm, grab the metal head microphone, keep 0.10m from the trophy with detailed top and base, then give the metal head microphone to the right arm.",
+    "Grab the microphone with black tip and white body, carry it around the shiny gold trophy with black stand with 0.10m clearance, then hand over.",
+    "Secure the microphone with textured metal head, route it at least 0.10m from the gold cup on black base, then hand it over.",
+    "With the left arm, grasp the microphone with cylindrical handle, then hand the microphone with cylindrical handle to the right arm, avoiding the two-handled golden trophy.",
+    "Using the left arm, take the black and white microphone and hand to the right arm, keeping 0.10m from the gold and black prize cup.",
+    "With the left arm, take the smooth plastic microphone handle, keep distance from the centerpiece gold trophy on sturdy base, and give the smooth plastic microphone handle to the right arm.",
+    "Pick up the handheld microphone, move it staying 0.10m from the award trophy with black platform, then complete the handoff.",
+    "Lift the metal head microphone, keep it 0.10m away from the gold cup on black base, then pass it across.",
+    "Move the microphone with rounded mesh head from the left arm to the right arm while keeping clear of the shiny gold trophy with black stand.",
+    "Pick up the smooth plastic microphone handle with the left arm, transfer to the right arm, stay away from the trophy with smooth polished finish.",
+    "Have the left arm take the metal head microphone, then the right arm takes the metal head microphone, keep 0.10m from the medium-sized prize trophy.",
+    "Lift the metal head microphone with the left arm, give the metal head microphone to the right arm, keep clear of the centerpiece gold trophy on sturdy base 0.10m.",
+    "Have the left arm grasp the handheld microphone, avoid the trophy with two side handles by 0.10m, and transfer the handheld microphone to the right arm.",
+    "Take the metal head microphone using the left arm, keep away from the medium-sized prize trophy, and pass to the right arm.",
+    "Use the left arm to lift the smooth plastic microphone handle, then give the smooth plastic microphone handle to the right arm, avoiding the trophy with detailed top and base by 0.10m.",
+    "Take the microphone with black tip and white body with the left arm, route it away from the gold cup on black base, then hand it to the right arm.",
+    "Take the microphone with textured metal head with the left arm, hand over to the right arm, keep the microphone with textured metal head 0.10m away from the medium-sized prize trophy.",
+    "Let the left arm grasp the handheld microphone, move it 0.10m from the trophy with detailed top and base, then the right arm receives.",
+    "Pick up the microphone with black tip and white body using the left arm, transfer to the right arm, keep 0.10m from the ornate gold cup.",
+    "Get the mesh-patterned microphone head with the left arm, shift the mesh-patterned microphone head to the right arm, maintaining 0.10m from the trophy with smooth polished finish.",
+    "Using the left arm, grab the microphone with textured metal head, keep 0.10m from the two-handled golden trophy, then give the microphone with textured metal head to the right arm.",
+    "Grab the microphone with black tip and white body, carry it around the gold cup on black base with 0.10m clearance, then hand over.",
+    "Secure the compact size microphone, route it at least 0.10m from the two-handled golden trophy, then hand it over.",
+    "With the left arm, grasp the microphone with textured metal head, then hand the microphone with textured metal head to the right arm, avoiding the gold cup on black base.",
+    "Using the left arm, take the microphone with black tip and white body and hand to the right arm, keeping 0.10m from the gold and black prize cup.",
+    "With the left arm, take the black and white microphone, keep distance from the ornate gold cup, and give the black and white microphone to the right arm.",
+    "Pick up the microphone with black tip and white body, move it staying 0.10m from the gold trophy, then complete the handoff.",
+    "Lift the microphone for voice recording, keep it 0.10m away from the trophy with smooth polished finish, then pass it across.",
+    "Move the microphone for voice recording from the left arm to the right arm while keeping clear of the gold cup on black base.",
+    "Pick up the smooth plastic microphone handle with the left arm, transfer to the right arm, stay away from the two-handled golden trophy.",
+    "Have the left arm take the compact size microphone, then the right arm takes the compact size microphone, keep 0.10m from the trophy with two side handles.",
+    "Lift the smooth plastic microphone handle with the left arm, give the smooth plastic microphone handle to the right arm, keep clear of the award trophy with black platform 0.10m.",
+    "Have the left arm grasp the handheld microphone, avoid the trophy with detailed top and base by 0.10m, and transfer the handheld microphone to the right arm.",
+    "Take the mesh-patterned microphone head using the left arm, keep away from the gold and black prize cup, and pass to the right arm.",
+    "Use the left arm to lift the black and white microphone, then give the black and white microphone to the right arm, avoiding the medium-sized prize trophy by 0.10m.",
+    "Take the metal head microphone with the left arm, route it away from the gold cup on black base, then hand it to the right arm.",
+    "Take the mesh-patterned microphone head with the left arm, hand over to the right arm, keep the mesh-patterned microphone head 0.10m away from the two-handled golden trophy.",
+    "Let the left arm grasp the metal head microphone, move it 0.10m from the award trophy with black platform, then the right arm receives.",
+    "Pick up the microphone with cylindrical handle using the left arm, transfer to the right arm, keep 0.10m from the award trophy with black platform.",
+    "Get the white microphone handle black accents with the left arm, shift the white microphone handle black accents to the right arm, maintaining 0.10m from the shiny gold trophy with black stand.",
+    "Using the left arm, grab the metal head microphone, keep 0.10m from the award trophy with black platform, then give the metal head microphone to the right arm.",
+    "Grab the microphone with textured metal head, carry it around the gold and black prize cup with 0.10m clearance, then hand over.",
+    "Secure the handheld microphone, route it at least 0.10m from the trophy with detailed top and base, then hand it over.",
+    "With the left arm, grasp the microphone with black tip and white body, then hand the microphone with black tip and white body to the right arm, avoiding the gold trophy.",
+    "Using the left arm, take the microphone with rounded mesh head and hand to the right arm, keeping 0.10m from the medium-sized prize trophy.",
+    "With the left arm, take the mesh-patterned microphone head, keep distance from the trophy with smooth polished finish, and give the mesh-patterned microphone head to the right arm.",
+    "Pick up the white microphone handle black accents, move it staying 0.10m from the two-handled golden trophy, then complete the handoff.",
+    "Lift the compact size microphone, keep it 0.10m away from the trophy with two side handles, then pass it across.",
+    "Move the microphone with textured metal head from the left arm to the right arm while keeping clear of the gold trophy.",
+    "Pick up the microphone with cylindrical handle with the left arm, transfer to the right arm, stay away from the gold cup on black base.",
+    "Have the left arm take the metal head microphone, then the right arm takes the metal head microphone, keep 0.10m from the trophy with detailed top and base.",
+    "Lift the compact size microphone with the left arm, give the compact size microphone to the right arm, keep clear of the trophy with detailed top and base 0.10m.",
+    "Have the left arm grasp the handheld microphone, avoid the medium-sized prize trophy by 0.10m, and transfer the handheld microphone to the right arm.",
+    "Take the handheld microphone using the left arm, keep away from the trophy with detailed top and base, and pass to the right arm.",
+    "Use the left arm to lift the white microphone handle black accents, then give the white microphone handle black accents to the right arm, avoiding the award trophy with black platform by 0.10m."
+  ],
+  "unseen": [
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the smooth gold cup.",
+    "Pick up the black and white plastic microphone, avoid the smooth gold cup by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the smooth gold cup.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the golden award cup.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the golden award cup by 0.10m.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the golden award cup, hand to the right arm.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the smooth gold cup.",
+    "Pick up the black and white plastic microphone, avoid the golden award cup by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the trophy cup with curved handles.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the trophy cup with curved handles.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the golden award cup by 0.10m.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the trophy cup with curved handles, hand to the right arm.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the trophy cup with curved handles.",
+    "Pick up the microphone used for audio input, avoid the golden award cup by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the golden award cup.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the trophy cup with curved handles.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the golden award cup by 0.10m.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the golden award cup, hand to the right arm.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the smooth gold cup.",
+    "Pick up the microphone used for audio input, avoid the trophy cup with curved handles by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the trophy cup with curved handles.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the trophy cup with curved handles.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the smooth gold cup, hand to the right arm.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the smooth gold cup.",
+    "Pick up the black and white plastic microphone, avoid the smooth gold cup by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the golden award cup.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the golden award cup.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the golden award cup by 0.10m.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the golden award cup, hand to the right arm.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the trophy cup with curved handles.",
+    "Pick up the lightweight handheld microphone, avoid the smooth gold cup by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the golden award cup.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the golden award cup.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the smooth gold cup, hand to the right arm.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the golden award cup.",
+    "Pick up the microphone used for audio input, avoid the trophy cup with curved handles by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the smooth gold cup.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the smooth gold cup.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the golden award cup by 0.10m.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the golden award cup, hand to the right arm.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the golden award cup.",
+    "Pick up the lightweight handheld microphone, avoid the smooth gold cup by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the smooth gold cup.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the trophy cup with curved handles.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the smooth gold cup, hand to the right arm.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the smooth gold cup.",
+    "Pick up the black and white plastic microphone, avoid the smooth gold cup by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the golden award cup.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the golden award cup.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the smooth gold cup by 0.10m.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the smooth gold cup, hand to the right arm.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the golden award cup.",
+    "Pick up the lightweight handheld microphone, avoid the trophy cup with curved handles by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the golden award cup.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the smooth gold cup.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the golden award cup by 0.10m.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the trophy cup with curved handles, hand to the right arm.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the smooth gold cup.",
+    "Pick up the microphone used for audio input, avoid the smooth gold cup by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the smooth gold cup.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the trophy cup with curved handles.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the golden award cup by 0.10m.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the smooth gold cup, hand to the right arm.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the trophy cup with curved handles.",
+    "Pick up the lightweight handheld microphone, avoid the smooth gold cup by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the golden award cup.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the smooth gold cup.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the golden award cup by 0.10m.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the golden award cup, hand to the right arm.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the golden award cup.",
+    "Pick up the lightweight handheld microphone, avoid the golden award cup by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the smooth gold cup.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the smooth gold cup.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the golden award cup, hand to the right arm.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the golden award cup.",
+    "Pick up the black and white plastic microphone, avoid the smooth gold cup by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the trophy cup with curved handles.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the smooth gold cup.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the golden award cup by 0.10m.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the trophy cup with curved handles, hand to the right arm.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the smooth gold cup.",
+    "Pick up the black and white plastic microphone, avoid the golden award cup by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the golden award cup.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the trophy cup with curved handles.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the golden award cup by 0.10m.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the smooth gold cup, hand to the right arm.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the trophy cup with curved handles.",
+    "Pick up the lightweight handheld microphone, avoid the trophy cup with curved handles by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the golden award cup.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the trophy cup with curved handles.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the smooth gold cup by 0.10m.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the trophy cup with curved handles, hand to the right arm.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the smooth gold cup.",
+    "Pick up the black and white plastic microphone, avoid the smooth gold cup by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the smooth gold cup.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the smooth gold cup."
+  ]
+}
\ No newline at end of file
diff --git a/handover_mic_wp1/handover_mic_wp1/instructions/episode65.json b/handover_mic_wp1/handover_mic_wp1/instructions/episode65.json
new file mode 100644
index 0000000000000000000000000000000000000000..5959a91836a05ff8b2163d5b1a735361aeb26dfa
--- /dev/null
+++ b/handover_mic_wp1/handover_mic_wp1/instructions/episode65.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With the right arm, grasp the metal head microphone, then hand the metal head microphone to the left arm, avoiding the ornate gold cup.",
+    "Lift the microphone with cylindrical handle, keep it 0.10m away from the trophy with smooth polished finish, then pass it across.",
+    "Using the right arm, grab the black and white microphone, keep 0.10m from the trophy with two side handles, then give the black and white microphone to the left arm.",
+    "With the right arm, take the mesh-patterned microphone head, keep distance from the trophy with smooth polished finish, and give the mesh-patterned microphone head to the left arm.",
+    "Lift the microphone for voice recording with the right arm, give the microphone for voice recording to the left arm, keep clear of the shiny gold trophy with black stand 0.10m.",
+    "Get the microphone for voice recording with the right arm, shift the microphone for voice recording to the left arm, maintaining 0.10m from the trophy with detailed top and base.",
+    "Take the mesh-patterned microphone head with the right arm, hand over to the left arm, keep the mesh-patterned microphone head 0.10m away from the two-handled golden trophy.",
+    "Grab the black and white microphone, carry it around the shiny gold trophy with black stand with 0.10m clearance, then hand over.",
+    "Have the right arm grasp the mesh-patterned microphone head, avoid the gold trophy by 0.10m, and transfer the mesh-patterned microphone head to the left arm.",
+    "Let the right arm grasp the compact size microphone, move it 0.10m from the centerpiece gold trophy on sturdy base, then the left arm receives.",
+    "Take the smooth plastic microphone handle using the right arm, keep away from the centerpiece gold trophy on sturdy base, and pass to the left arm.",
+    "Pick up the microphone with textured metal head using the right arm, transfer to the left arm, keep 0.10m from the gold and black prize cup.",
+    "Take the microphone with rounded mesh head with the right arm, route it away from the medium-sized prize trophy, then hand it to the left arm.",
+    "Move the microphone for voice recording from the right arm to the left arm while keeping clear of the gold cup on black base.",
+    "Pick up the compact size microphone, move it staying 0.10m from the trophy with detailed top and base, then complete the handoff.",
+    "Using the right arm, take the black and white microphone and hand to the left arm, keeping 0.10m from the gold trophy.",
+    "Use the right arm to lift the white microphone handle black accents, then give the white microphone handle black accents to the left arm, avoiding the trophy with detailed top and base by 0.10m.",
+    "Secure the microphone with rounded mesh head, route it at least 0.10m from the gold cup on black base, then hand it over.",
+    "Pick up the mesh-patterned microphone head with the right arm, transfer to the left arm, stay away from the trophy with detailed top and base.",
+    "Have the right arm take the microphone with black tip and white body, then the left arm takes the microphone with black tip and white body, keep 0.10m from the gold and black prize cup.",
+    "With the right arm, grasp the white microphone handle black accents, then hand the white microphone handle black accents to the left arm, avoiding the trophy with two side handles.",
+    "Lift the handheld microphone, keep it 0.10m away from the centerpiece gold trophy on sturdy base, then pass it across.",
+    "Using the right arm, grab the microphone with rounded mesh head, keep 0.10m from the centerpiece gold trophy on sturdy base, then give the microphone with rounded mesh head to the left arm.",
+    "With the right arm, take the mesh-patterned microphone head, keep distance from the gold trophy, and give the mesh-patterned microphone head to the left arm.",
+    "Lift the microphone with rounded mesh head with the right arm, give the microphone with rounded mesh head to the left arm, keep clear of the medium-sized prize trophy 0.10m.",
+    "Get the mesh-patterned microphone head with the right arm, shift the mesh-patterned microphone head to the left arm, maintaining 0.10m from the shiny gold trophy with black stand.",
+    "Take the microphone with textured metal head with the right arm, hand over to the left arm, keep the microphone with textured metal head 0.10m away from the medium-sized prize trophy.",
+    "Grab the microphone with rounded mesh head, carry it around the gold cup on black base with 0.10m clearance, then hand over.",
+    "Have the right arm grasp the microphone with rounded mesh head, avoid the shiny gold trophy with black stand by 0.10m, and transfer the microphone with rounded mesh head to the left arm.",
+    "Let the right arm grasp the microphone with black tip and white body, move it 0.10m from the award trophy with black platform, then the left arm receives.",
+    "Take the microphone with rounded mesh head using the right arm, keep away from the gold trophy, and pass to the left arm.",
+    "Pick up the microphone for voice recording using the right arm, transfer to the left arm, keep 0.10m from the gold and black prize cup.",
+    "Take the metal head microphone with the right arm, route it away from the gold cup on black base, then hand it to the left arm.",
+    "Move the microphone with textured metal head from the right arm to the left arm while keeping clear of the trophy with detailed top and base.",
+    "Pick up the compact size microphone, move it staying 0.10m from the medium-sized prize trophy, then complete the handoff.",
+    "Using the right arm, take the mesh-patterned microphone head and hand to the left arm, keeping 0.10m from the centerpiece gold trophy on sturdy base.",
+    "Use the right arm to lift the microphone with black tip and white body, then give the microphone with black tip and white body to the left arm, avoiding the centerpiece gold trophy on sturdy base by 0.10m.",
+    "Secure the mesh-patterned microphone head, route it at least 0.10m from the gold trophy, then hand it over.",
+    "Pick up the microphone for voice recording with the right arm, transfer to the left arm, stay away from the gold cup on black base.",
+    "Have the right arm take the mesh-patterned microphone head, then the left arm takes the mesh-patterned microphone head, keep 0.10m from the shiny gold trophy with black stand.",
+    "With the right arm, grasp the compact size microphone, then hand the compact size microphone to the left arm, avoiding the two-handled golden trophy.",
+    "Lift the microphone with cylindrical handle, keep it 0.10m away from the gold trophy, then pass it across.",
+    "Using the right arm, grab the white microphone handle black accents, keep 0.10m from the trophy with smooth polished finish, then give the white microphone handle black accents to the left arm.",
+    "With the right arm, take the smooth plastic microphone handle, keep distance from the centerpiece gold trophy on sturdy base, and give the smooth plastic microphone handle to the left arm.",
+    "Lift the white microphone handle black accents with the right arm, give the white microphone handle black accents to the left arm, keep clear of the centerpiece gold trophy on sturdy base 0.10m.",
+    "Get the mesh-patterned microphone head with the right arm, shift the mesh-patterned microphone head to the left arm, maintaining 0.10m from the shiny gold trophy with black stand.",
+    "Take the mesh-patterned microphone head with the right arm, hand over to the left arm, keep the mesh-patterned microphone head 0.10m away from the gold and black prize cup.",
+    "Grab the microphone with cylindrical handle, carry it around the gold cup on black base with 0.10m clearance, then hand over.",
+    "Have the right arm grasp the black and white microphone, avoid the trophy with two side handles by 0.10m, and transfer the black and white microphone to the left arm.",
+    "Let the right arm grasp the compact size microphone, move it 0.10m from the trophy with two side handles, then the left arm receives.",
+    "Take the mesh-patterned microphone head using the right arm, keep away from the trophy with two side handles, and pass to the left arm.",
+    "Pick up the microphone with textured metal head using the right arm, transfer to the left arm, keep 0.10m from the medium-sized prize trophy.",
+    "Take the smooth plastic microphone handle with the right arm, route it away from the gold trophy, then hand it to the left arm.",
+    "Move the smooth plastic microphone handle from the right arm to the left arm while keeping clear of the medium-sized prize trophy.",
+    "Pick up the microphone with black tip and white body, move it staying 0.10m from the trophy with smooth polished finish, then complete the handoff.",
+    "Using the right arm, take the black and white microphone and hand to the left arm, keeping 0.10m from the trophy with two side handles.",
+    "Use the right arm to lift the microphone for voice recording, then give the microphone for voice recording to the left arm, avoiding the gold trophy by 0.10m.",
+    "Secure the metal head microphone, route it at least 0.10m from the trophy with detailed top and base, then hand it over.",
+    "Pick up the metal head microphone with the right arm, transfer to the left arm, stay away from the gold trophy.",
+    "Have the right arm take the metal head microphone, then the left arm takes the metal head microphone, keep 0.10m from the shiny gold trophy with black stand.",
+    "With the right arm, grasp the smooth plastic microphone handle, then hand the smooth plastic microphone handle to the left arm, avoiding the trophy with detailed top and base.",
+    "Lift the mesh-patterned microphone head, keep it 0.10m away from the gold cup on black base, then pass it across.",
+    "Using the right arm, grab the microphone with black tip and white body, keep 0.10m from the award trophy with black platform, then give the microphone with black tip and white body to the left arm.",
+    "With the right arm, take the smooth plastic microphone handle, keep distance from the medium-sized prize trophy, and give the smooth plastic microphone handle to the left arm.",
+    "Lift the compact size microphone with the right arm, give the compact size microphone to the left arm, keep clear of the award trophy with black platform 0.10m.",
+    "Get the mesh-patterned microphone head with the right arm, shift the mesh-patterned microphone head to the left arm, maintaining 0.10m from the gold trophy.",
+    "Take the microphone with black tip and white body with the right arm, hand over to the left arm, keep the microphone with black tip and white body 0.10m away from the trophy with two side handles.",
+    "Grab the microphone with textured metal head, carry it around the gold trophy with 0.10m clearance, then hand over.",
+    "Have the right arm grasp the microphone with textured metal head, avoid the gold and black prize cup by 0.10m, and transfer the microphone with textured metal head to the left arm.",
+    "Let the right arm grasp the microphone for voice recording, move it 0.10m from the centerpiece gold trophy on sturdy base, then the left arm receives.",
+    "Take the white microphone handle black accents using the right arm, keep away from the two-handled golden trophy, and pass to the left arm.",
+    "Pick up the handheld microphone using the right arm, transfer to the left arm, keep 0.10m from the trophy with smooth polished finish.",
+    "Take the smooth plastic microphone handle with the right arm, route it away from the trophy with smooth polished finish, then hand it to the left arm.",
+    "Move the white microphone handle black accents from the right arm to the left arm while keeping clear of the medium-sized prize trophy.",
+    "Pick up the microphone with textured metal head, move it staying 0.10m from the gold cup on black base, then complete the handoff.",
+    "Using the right arm, take the microphone with black tip and white body and hand to the left arm, keeping 0.10m from the trophy with detailed top and base.",
+    "Use the right arm to lift the microphone for voice recording, then give the microphone for voice recording to the left arm, avoiding the two-handled golden trophy by 0.10m.",
+    "Secure the handheld microphone, route it at least 0.10m from the gold trophy, then hand it over.",
+    "Pick up the microphone with rounded mesh head with the right arm, transfer to the left arm, stay away from the shiny gold trophy with black stand.",
+    "Have the right arm take the microphone with textured metal head, then the left arm takes the microphone with textured metal head, keep 0.10m from the trophy with smooth polished finish.",
+    "With the right arm, grasp the black and white microphone, then hand the black and white microphone to the left arm, avoiding the two-handled golden trophy.",
+    "Lift the microphone for voice recording, keep it 0.10m away from the centerpiece gold trophy on sturdy base, then pass it across.",
+    "Using the right arm, grab the black and white microphone, keep 0.10m from the trophy with two side handles, then give the black and white microphone to the left arm.",
+    "With the right arm, take the black and white microphone, keep distance from the centerpiece gold trophy on sturdy base, and give the black and white microphone to the left arm.",
+    "Lift the microphone with rounded mesh head with the right arm, give the microphone with rounded mesh head to the left arm, keep clear of the gold trophy 0.10m.",
+    "Get the microphone with cylindrical handle with the right arm, shift the microphone with cylindrical handle to the left arm, maintaining 0.10m from the ornate gold cup.",
+    "Take the smooth plastic microphone handle with the right arm, hand over to the left arm, keep the smooth plastic microphone handle 0.10m away from the shiny gold trophy with black stand.",
+    "Grab the black and white microphone, carry it around the award trophy with black platform with 0.10m clearance, then hand over.",
+    "Have the right arm grasp the microphone for voice recording, avoid the gold and black prize cup by 0.10m, and transfer the microphone for voice recording to the left arm.",
+    "Let the right arm grasp the microphone for voice recording, move it 0.10m from the centerpiece gold trophy on sturdy base, then the left arm receives.",
+    "Take the white microphone handle black accents using the right arm, keep away from the trophy with smooth polished finish, and pass to the left arm.",
+    "Pick up the mesh-patterned microphone head using the right arm, transfer to the left arm, keep 0.10m from the shiny gold trophy with black stand.",
+    "Take the handheld microphone with the right arm, route it away from the trophy with smooth polished finish, then hand it to the left arm.",
+    "Move the compact size microphone from the right arm to the left arm while keeping clear of the shiny gold trophy with black stand.",
+    "Pick up the white microphone handle black accents, move it staying 0.10m from the trophy with detailed top and base, then complete the handoff.",
+    "Using the right arm, take the metal head microphone and hand to the left arm, keeping 0.10m from the trophy with two side handles.",
+    "Use the right arm to lift the compact size microphone, then give the compact size microphone to the left arm, avoiding the centerpiece gold trophy on sturdy base by 0.10m.",
+    "Secure the microphone with textured metal head, route it at least 0.10m from the gold cup on black base, then hand it over.",
+    "Pick up the microphone with rounded mesh head with the right arm, transfer to the left arm, stay away from the two-handled golden trophy.",
+    "Have the right arm take the microphone with cylindrical handle, then the left arm takes the microphone with cylindrical handle, keep 0.10m from the gold trophy."
+  ],
+  "unseen": [
+    "Grab the lightweight handheld microphone with the right arm, keep 0.10m from the trophy cup with curved handles, hand to the left arm.",
+    "With the right arm, grab the lightweight handheld microphone, pass to the left arm, keeping the lightweight handheld microphone 0.10m from the smooth gold cup.",
+    "Use the right arm to grab the microphone used for audio input, pass to the left arm, keep the microphone used for audio input 0.10m from the golden award cup.",
+    "Pick up the black and white plastic microphone, avoid the golden award cup by 0.10m, pass the black and white plastic microphone from the right arm to the left arm.",
+    "Use the right arm to grab the black and white plastic microphone, then pass it to the left arm, avoiding the smooth gold cup.",
+    "Grab the microphone used for audio input with the right arm, hand it to the left arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Grab the black and white plastic microphone with the right arm, keep 0.10m from the trophy cup with curved handles, hand to the left arm.",
+    "With the right arm, grab the black and white plastic microphone, pass to the left arm, keeping the black and white plastic microphone 0.10m from the trophy cup with curved handles.",
+    "Use the right arm to grab the black and white plastic microphone, pass to the left arm, keep the black and white plastic microphone 0.10m from the smooth gold cup.",
+    "Pick up the black and white plastic microphone, avoid the smooth gold cup by 0.10m, pass the black and white plastic microphone from the right arm to the left arm.",
+    "Use the right arm to grab the black and white plastic microphone, then pass it to the left arm, avoiding the trophy cup with curved handles.",
+    "Grab the microphone used for audio input with the right arm, hand it to the left arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Grab the lightweight handheld microphone with the right arm, keep 0.10m from the trophy cup with curved handles, hand to the left arm.",
+    "With the right arm, grab the microphone used for audio input, pass to the left arm, keeping the microphone used for audio input 0.10m from the smooth gold cup.",
+    "Use the right arm to grab the lightweight handheld microphone, pass to the left arm, keep the lightweight handheld microphone 0.10m from the trophy cup with curved handles.",
+    "Pick up the microphone used for audio input, avoid the smooth gold cup by 0.10m, pass the microphone used for audio input from the right arm to the left arm.",
+    "Use the right arm to grab the lightweight handheld microphone, then pass it to the left arm, avoiding the trophy cup with curved handles.",
+    "Grab the lightweight handheld microphone with the right arm, hand it to the left arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Grab the black and white plastic microphone with the right arm, keep 0.10m from the golden award cup, hand to the left arm.",
+    "With the right arm, grab the microphone used for audio input, pass to the left arm, keeping the microphone used for audio input 0.10m from the golden award cup.",
+    "Use the right arm to grab the microphone used for audio input, pass to the left arm, keep the microphone used for audio input 0.10m from the trophy cup with curved handles.",
+    "Pick up the microphone used for audio input, avoid the trophy cup with curved handles by 0.10m, pass the microphone used for audio input from the right arm to the left arm.",
+    "Use the right arm to grab the lightweight handheld microphone, then pass it to the left arm, avoiding the trophy cup with curved handles.",
+    "Grab the lightweight handheld microphone with the right arm, hand it to the left arm, avoiding the smooth gold cup by 0.10m.",
+    "Grab the black and white plastic microphone with the right arm, keep 0.10m from the trophy cup with curved handles, hand to the left arm.",
+    "With the right arm, grab the microphone used for audio input, pass to the left arm, keeping the microphone used for audio input 0.10m from the smooth gold cup.",
+    "Use the right arm to grab the black and white plastic microphone, pass to the left arm, keep the black and white plastic microphone 0.10m from the smooth gold cup.",
+    "Pick up the microphone used for audio input, avoid the golden award cup by 0.10m, pass the microphone used for audio input from the right arm to the left arm.",
+    "Use the right arm to grab the microphone used for audio input, then pass it to the left arm, avoiding the smooth gold cup.",
+    "Grab the black and white plastic microphone with the right arm, hand it to the left arm, avoiding the smooth gold cup by 0.10m.",
+    "Grab the microphone used for audio input with the right arm, keep 0.10m from the golden award cup, hand to the left arm.",
+    "With the right arm, grab the black and white plastic microphone, pass to the left arm, keeping the black and white plastic microphone 0.10m from the trophy cup with curved handles.",
+    "Use the right arm to grab the microphone used for audio input, pass to the left arm, keep the microphone used for audio input 0.10m from the golden award cup.",
+    "Pick up the lightweight handheld microphone, avoid the trophy cup with curved handles by 0.10m, pass the lightweight handheld microphone from the right arm to the left arm.",
+    "Use the right arm to grab the lightweight handheld microphone, then pass it to the left arm, avoiding the golden award cup.",
+    "Grab the microphone used for audio input with the right arm, hand it to the left arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Grab the microphone used for audio input with the right arm, keep 0.10m from the trophy cup with curved handles, hand to the left arm.",
+    "With the right arm, grab the microphone used for audio input, pass to the left arm, keeping the microphone used for audio input 0.10m from the golden award cup.",
+    "Use the right arm to grab the microphone used for audio input, pass to the left arm, keep the microphone used for audio input 0.10m from the golden award cup.",
+    "Pick up the microphone used for audio input, avoid the trophy cup with curved handles by 0.10m, pass the microphone used for audio input from the right arm to the left arm.",
+    "Use the right arm to grab the microphone used for audio input, then pass it to the left arm, avoiding the smooth gold cup.",
+    "Grab the black and white plastic microphone with the right arm, hand it to the left arm, avoiding the golden award cup by 0.10m.",
+    "Grab the lightweight handheld microphone with the right arm, keep 0.10m from the smooth gold cup, hand to the left arm.",
+    "With the right arm, grab the lightweight handheld microphone, pass to the left arm, keeping the lightweight handheld microphone 0.10m from the golden award cup.",
+    "Use the right arm to grab the lightweight handheld microphone, pass to the left arm, keep the lightweight handheld microphone 0.10m from the trophy cup with curved handles.",
+    "Pick up the black and white plastic microphone, avoid the golden award cup by 0.10m, pass the black and white plastic microphone from the right arm to the left arm.",
+    "Use the right arm to grab the lightweight handheld microphone, then pass it to the left arm, avoiding the trophy cup with curved handles.",
+    "Grab the microphone used for audio input with the right arm, hand it to the left arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Grab the microphone used for audio input with the right arm, keep 0.10m from the trophy cup with curved handles, hand to the left arm.",
+    "With the right arm, grab the microphone used for audio input, pass to the left arm, keeping the microphone used for audio input 0.10m from the smooth gold cup.",
+    "Use the right arm to grab the black and white plastic microphone, pass to the left arm, keep the black and white plastic microphone 0.10m from the golden award cup.",
+    "Pick up the microphone used for audio input, avoid the smooth gold cup by 0.10m, pass the microphone used for audio input from the right arm to the left arm.",
+    "Use the right arm to grab the microphone used for audio input, then pass it to the left arm, avoiding the golden award cup.",
+    "Grab the black and white plastic microphone with the right arm, hand it to the left arm, avoiding the smooth gold cup by 0.10m.",
+    "Grab the black and white plastic microphone with the right arm, keep 0.10m from the trophy cup with curved handles, hand to the left arm.",
+    "With the right arm, grab the lightweight handheld microphone, pass to the left arm, keeping the lightweight handheld microphone 0.10m from the trophy cup with curved handles.",
+    "Use the right arm to grab the microphone used for audio input, pass to the left arm, keep the microphone used for audio input 0.10m from the smooth gold cup.",
+    "Pick up the microphone used for audio input, avoid the golden award cup by 0.10m, pass the microphone used for audio input from the right arm to the left arm.",
+    "Use the right arm to grab the black and white plastic microphone, then pass it to the left arm, avoiding the trophy cup with curved handles.",
+    "Grab the black and white plastic microphone with the right arm, hand it to the left arm, avoiding the golden award cup by 0.10m.",
+    "Grab the lightweight handheld microphone with the right arm, keep 0.10m from the trophy cup with curved handles, hand to the left arm.",
+    "With the right arm, grab the microphone used for audio input, pass to the left arm, keeping the microphone used for audio input 0.10m from the smooth gold cup.",
+    "Use the right arm to grab the lightweight handheld microphone, pass to the left arm, keep the lightweight handheld microphone 0.10m from the trophy cup with curved handles.",
+    "Pick up the microphone used for audio input, avoid the trophy cup with curved handles by 0.10m, pass the microphone used for audio input from the right arm to the left arm.",
+    "Use the right arm to grab the lightweight handheld microphone, then pass it to the left arm, avoiding the smooth gold cup.",
+    "Grab the microphone used for audio input with the right arm, hand it to the left arm, avoiding the golden award cup by 0.10m.",
+    "Grab the black and white plastic microphone with the right arm, keep 0.10m from the trophy cup with curved handles, hand to the left arm.",
+    "With the right arm, grab the microphone used for audio input, pass to the left arm, keeping the microphone used for audio input 0.10m from the trophy cup with curved handles.",
+    "Use the right arm to grab the black and white plastic microphone, pass to the left arm, keep the black and white plastic microphone 0.10m from the trophy cup with curved handles.",
+    "Pick up the black and white plastic microphone, avoid the trophy cup with curved handles by 0.10m, pass the black and white plastic microphone from the right arm to the left arm.",
+    "Use the right arm to grab the microphone used for audio input, then pass it to the left arm, avoiding the trophy cup with curved handles.",
+    "Grab the microphone used for audio input with the right arm, hand it to the left arm, avoiding the smooth gold cup by 0.10m.",
+    "Grab the microphone used for audio input with the right arm, keep 0.10m from the golden award cup, hand to the left arm.",
+    "With the right arm, grab the microphone used for audio input, pass to the left arm, keeping the microphone used for audio input 0.10m from the smooth gold cup.",
+    "Use the right arm to grab the lightweight handheld microphone, pass to the left arm, keep the lightweight handheld microphone 0.10m from the smooth gold cup.",
+    "Pick up the black and white plastic microphone, avoid the trophy cup with curved handles by 0.10m, pass the black and white plastic microphone from the right arm to the left arm.",
+    "Use the right arm to grab the black and white plastic microphone, then pass it to the left arm, avoiding the smooth gold cup.",
+    "Grab the microphone used for audio input with the right arm, hand it to the left arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Grab the lightweight handheld microphone with the right arm, keep 0.10m from the golden award cup, hand to the left arm.",
+    "With the right arm, grab the microphone used for audio input, pass to the left arm, keeping the microphone used for audio input 0.10m from the trophy cup with curved handles.",
+    "Use the right arm to grab the black and white plastic microphone, pass to the left arm, keep the black and white plastic microphone 0.10m from the trophy cup with curved handles.",
+    "Pick up the lightweight handheld microphone, avoid the golden award cup by 0.10m, pass the lightweight handheld microphone from the right arm to the left arm.",
+    "Use the right arm to grab the microphone used for audio input, then pass it to the left arm, avoiding the trophy cup with curved handles.",
+    "Grab the black and white plastic microphone with the right arm, hand it to the left arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Grab the black and white plastic microphone with the right arm, keep 0.10m from the golden award cup, hand to the left arm.",
+    "With the right arm, grab the microphone used for audio input, pass to the left arm, keeping the microphone used for audio input 0.10m from the smooth gold cup.",
+    "Use the right arm to grab the lightweight handheld microphone, pass to the left arm, keep the lightweight handheld microphone 0.10m from the golden award cup.",
+    "Pick up the black and white plastic microphone, avoid the smooth gold cup by 0.10m, pass the black and white plastic microphone from the right arm to the left arm.",
+    "Use the right arm to grab the microphone used for audio input, then pass it to the left arm, avoiding the smooth gold cup.",
+    "Grab the black and white plastic microphone with the right arm, hand it to the left arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Grab the lightweight handheld microphone with the right arm, keep 0.10m from the golden award cup, hand to the left arm.",
+    "With the right arm, grab the microphone used for audio input, pass to the left arm, keeping the microphone used for audio input 0.10m from the trophy cup with curved handles.",
+    "Use the right arm to grab the microphone used for audio input, pass to the left arm, keep the microphone used for audio input 0.10m from the trophy cup with curved handles.",
+    "Pick up the lightweight handheld microphone, avoid the smooth gold cup by 0.10m, pass the lightweight handheld microphone from the right arm to the left arm.",
+    "Use the right arm to grab the microphone used for audio input, then pass it to the left arm, avoiding the smooth gold cup.",
+    "Grab the black and white plastic microphone with the right arm, hand it to the left arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Grab the microphone used for audio input with the right arm, keep 0.10m from the golden award cup, hand to the left arm.",
+    "With the right arm, grab the black and white plastic microphone, pass to the left arm, keeping the black and white plastic microphone 0.10m from the trophy cup with curved handles.",
+    "Use the right arm to grab the lightweight handheld microphone, pass to the left arm, keep the lightweight handheld microphone 0.10m from the trophy cup with curved handles.",
+    "Pick up the microphone used for audio input, avoid the golden award cup by 0.10m, pass the microphone used for audio input from the right arm to the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/handover_mic_wp1/handover_mic_wp1/instructions/episode66.json b/handover_mic_wp1/handover_mic_wp1/instructions/episode66.json
new file mode 100644
index 0000000000000000000000000000000000000000..c3ebc603c861f0bd8e115201fed7cec98441aadf
--- /dev/null
+++ b/handover_mic_wp1/handover_mic_wp1/instructions/episode66.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With the left arm, take the mesh-patterned microphone head, keep distance from the cup-shaped trophy, and give the mesh-patterned microphone head to the right arm.",
+    "Grab the microphone with cylindrical handle, carry it around the decorative trophy with shiny finish with 0.10m clearance, then hand over.",
+    "With the left arm, grasp the black and white microphone, then hand the black and white microphone to the right arm, avoiding the gold-colored prize cup with solid base.",
+    "Pick up the microphone for voice recording, move it staying 0.10m from the gold trophy, then complete the handoff.",
+    "Pick up the metal head microphone with the left arm, transfer to the right arm, stay away from the gold prize cup.",
+    "Have the left arm grasp the compact size microphone, avoid the award trophy by 0.10m, and transfer the compact size microphone to the right arm.",
+    "Using the left arm, grab the microphone with black tip and white body, keep 0.10m from the trophy with curved handles, then give the microphone with black tip and white body to the right arm.",
+    "Take the mesh-patterned microphone head using the left arm, keep away from the gold-colored prize cup with solid base, and pass to the right arm.",
+    "Take the black and white microphone with the left arm, hand over to the right arm, keep the black and white microphone 0.10m away from the decorative trophy with shiny finish.",
+    "Using the left arm, take the microphone with cylindrical handle and hand to the right arm, keeping 0.10m from the cup-shaped trophy.",
+    "Secure the handheld microphone, route it at least 0.10m from the trophy with curved handles, then hand it over.",
+    "Use the left arm to lift the smooth plastic microphone handle, then give the smooth plastic microphone handle to the right arm, avoiding the gold trophy by 0.10m.",
+    "Take the white microphone handle black accents with the left arm, route it away from the trophy cup, then hand it to the right arm.",
+    "Have the left arm take the smooth plastic microphone handle, then the right arm takes the smooth plastic microphone handle, keep 0.10m from the cup-shaped trophy.",
+    "Pick up the metal head microphone using the left arm, transfer to the right arm, keep 0.10m from the trophy with smooth golden surface.",
+    "Lift the microphone with rounded mesh head, keep it 0.10m away from the gold trophy, then pass it across.",
+    "Lift the white microphone handle black accents with the left arm, give the white microphone handle black accents to the right arm, keep clear of the medium trophy with pedestal base 0.10m.",
+    "Move the handheld microphone from the left arm to the right arm while keeping clear of the trophy with curved handles.",
+    "Get the microphone with black tip and white body with the left arm, shift the microphone with black tip and white body to the right arm, maintaining 0.10m from the gold-colored prize cup with solid base.",
+    "Let the left arm grasp the compact size microphone, move it 0.10m from the trophy cup, then the right arm receives.",
+    "With the left arm, take the microphone with textured metal head, keep distance from the award trophy, and give the microphone with textured metal head to the right arm.",
+    "Grab the compact size microphone, carry it around the gold-colored prize cup with solid base with 0.10m clearance, then hand over.",
+    "With the left arm, grasp the microphone for voice recording, then hand the microphone for voice recording to the right arm, avoiding the trophy cup.",
+    "Pick up the smooth plastic microphone handle, move it staying 0.10m from the trophy with smooth golden surface, then complete the handoff.",
+    "Pick up the microphone with cylindrical handle with the left arm, transfer to the right arm, stay away from the trophy cup.",
+    "Have the left arm grasp the smooth plastic microphone handle, avoid the cup-shaped trophy by 0.10m, and transfer the smooth plastic microphone handle to the right arm.",
+    "Using the left arm, grab the compact size microphone, keep 0.10m from the trophy with smooth golden surface, then give the compact size microphone to the right arm.",
+    "Take the metal head microphone using the left arm, keep away from the gold prize cup, and pass to the right arm.",
+    "Take the microphone with black tip and white body with the left arm, hand over to the right arm, keep the microphone with black tip and white body 0.10m away from the award trophy.",
+    "Using the left arm, take the microphone with rounded mesh head and hand to the right arm, keeping 0.10m from the gold trophy.",
+    "Secure the microphone with black tip and white body, route it at least 0.10m from the award trophy, then hand it over.",
+    "Use the left arm to lift the microphone with rounded mesh head, then give the microphone with rounded mesh head to the right arm, avoiding the decorative trophy with shiny finish by 0.10m.",
+    "Take the white microphone handle black accents with the left arm, route it away from the trophy cup, then hand it to the right arm.",
+    "Have the left arm take the black and white microphone, then the right arm takes the black and white microphone, keep 0.10m from the trophy cup.",
+    "Pick up the microphone for voice recording using the left arm, transfer to the right arm, keep 0.10m from the shiny gold cup with black stand.",
+    "Lift the smooth plastic microphone handle, keep it 0.10m away from the trophy with smooth golden surface, then pass it across.",
+    "Lift the microphone with black tip and white body with the left arm, give the microphone with black tip and white body to the right arm, keep clear of the trophy with smooth golden surface 0.10m.",
+    "Move the white microphone handle black accents from the left arm to the right arm while keeping clear of the gold prize cup.",
+    "Get the microphone with black tip and white body with the left arm, shift the microphone with black tip and white body to the right arm, maintaining 0.10m from the shiny gold cup with black stand.",
+    "Let the left arm grasp the mesh-patterned microphone head, move it 0.10m from the trophy with curved handles, then the right arm receives.",
+    "With the left arm, take the white microphone handle black accents, keep distance from the trophy with smooth golden surface, and give the white microphone handle black accents to the right arm.",
+    "Grab the black and white microphone, carry it around the smooth gold cup with sturdy pedestal with 0.10m clearance, then hand over.",
+    "With the left arm, grasp the microphone for voice recording, then hand the microphone for voice recording to the right arm, avoiding the gold prize cup.",
+    "Pick up the metal head microphone, move it staying 0.10m from the trophy cup, then complete the handoff.",
+    "Pick up the compact size microphone with the left arm, transfer to the right arm, stay away from the gold-colored prize cup with solid base.",
+    "Have the left arm grasp the microphone with textured metal head, avoid the trophy cup by 0.10m, and transfer the microphone with textured metal head to the right arm.",
+    "Using the left arm, grab the handheld microphone, keep 0.10m from the gold-colored prize cup with solid base, then give the handheld microphone to the right arm.",
+    "Take the microphone for voice recording using the left arm, keep away from the smooth gold cup with sturdy pedestal, and pass to the right arm.",
+    "Take the black and white microphone with the left arm, hand over to the right arm, keep the black and white microphone 0.10m away from the cup-shaped trophy.",
+    "Using the left arm, take the microphone with textured metal head and hand to the right arm, keeping 0.10m from the medium trophy with pedestal base.",
+    "Secure the microphone for voice recording, route it at least 0.10m from the trophy with curved handles, then hand it over.",
+    "Use the left arm to lift the compact size microphone, then give the compact size microphone to the right arm, avoiding the decorative trophy with shiny finish by 0.10m.",
+    "Take the metal head microphone with the left arm, route it away from the medium trophy with pedestal base, then hand it to the right arm.",
+    "Have the left arm take the compact size microphone, then the right arm takes the compact size microphone, keep 0.10m from the trophy with smooth golden surface.",
+    "Pick up the mesh-patterned microphone head using the left arm, transfer to the right arm, keep 0.10m from the gold-colored prize cup with solid base.",
+    "Lift the compact size microphone, keep it 0.10m away from the smooth gold cup with sturdy pedestal, then pass it across.",
+    "Lift the smooth plastic microphone handle with the left arm, give the smooth plastic microphone handle to the right arm, keep clear of the gold trophy 0.10m.",
+    "Move the microphone with black tip and white body from the left arm to the right arm while keeping clear of the gold-colored prize cup with solid base.",
+    "Get the microphone with black tip and white body with the left arm, shift the microphone with black tip and white body to the right arm, maintaining 0.10m from the trophy cup.",
+    "Let the left arm grasp the handheld microphone, move it 0.10m from the gold trophy, then the right arm receives.",
+    "With the left arm, take the white microphone handle black accents, keep distance from the gold prize cup, and give the white microphone handle black accents to the right arm.",
+    "Grab the microphone with cylindrical handle, carry it around the award trophy with 0.10m clearance, then hand over.",
+    "With the left arm, grasp the metal head microphone, then hand the metal head microphone to the right arm, avoiding the gold-colored prize cup with solid base.",
+    "Pick up the handheld microphone, move it staying 0.10m from the gold-colored prize cup with solid base, then complete the handoff.",
+    "Pick up the mesh-patterned microphone head with the left arm, transfer to the right arm, stay away from the gold trophy.",
+    "Have the left arm grasp the mesh-patterned microphone head, avoid the shiny gold cup with black stand by 0.10m, and transfer the mesh-patterned microphone head to the right arm.",
+    "Using the left arm, grab the metal head microphone, keep 0.10m from the shiny gold cup with black stand, then give the metal head microphone to the right arm.",
+    "Take the microphone with black tip and white body using the left arm, keep away from the gold-colored prize cup with solid base, and pass to the right arm.",
+    "Take the white microphone handle black accents with the left arm, hand over to the right arm, keep the white microphone handle black accents 0.10m away from the medium trophy with pedestal base.",
+    "Using the left arm, take the mesh-patterned microphone head and hand to the right arm, keeping 0.10m from the trophy with curved handles.",
+    "Secure the microphone with rounded mesh head, route it at least 0.10m from the smooth gold cup with sturdy pedestal, then hand it over.",
+    "Use the left arm to lift the compact size microphone, then give the compact size microphone to the right arm, avoiding the shiny gold cup with black stand by 0.10m.",
+    "Take the handheld microphone with the left arm, route it away from the gold-colored prize cup with solid base, then hand it to the right arm.",
+    "Have the left arm take the handheld microphone, then the right arm takes the handheld microphone, keep 0.10m from the trophy cup.",
+    "Pick up the metal head microphone using the left arm, transfer to the right arm, keep 0.10m from the award trophy.",
+    "Lift the mesh-patterned microphone head, keep it 0.10m away from the trophy cup, then pass it across.",
+    "Lift the microphone with cylindrical handle with the left arm, give the microphone with cylindrical handle to the right arm, keep clear of the trophy with smooth golden surface 0.10m.",
+    "Move the mesh-patterned microphone head from the left arm to the right arm while keeping clear of the gold-colored prize cup with solid base.",
+    "Get the microphone with black tip and white body with the left arm, shift the microphone with black tip and white body to the right arm, maintaining 0.10m from the trophy with curved handles.",
+    "Let the left arm grasp the white microphone handle black accents, move it 0.10m from the trophy with curved handles, then the right arm receives.",
+    "With the left arm, take the microphone with black tip and white body, keep distance from the gold prize cup, and give the microphone with black tip and white body to the right arm.",
+    "Grab the smooth plastic microphone handle, carry it around the award trophy with 0.10m clearance, then hand over.",
+    "With the left arm, grasp the handheld microphone, then hand the handheld microphone to the right arm, avoiding the gold prize cup.",
+    "Pick up the mesh-patterned microphone head, move it staying 0.10m from the gold-colored prize cup with solid base, then complete the handoff.",
+    "Pick up the microphone with black tip and white body with the left arm, transfer to the right arm, stay away from the trophy with curved handles.",
+    "Have the left arm grasp the microphone with rounded mesh head, avoid the gold-colored prize cup with solid base by 0.10m, and transfer the microphone with rounded mesh head to the right arm.",
+    "Using the left arm, grab the white microphone handle black accents, keep 0.10m from the shiny gold cup with black stand, then give the white microphone handle black accents to the right arm.",
+    "Take the handheld microphone using the left arm, keep away from the cup-shaped trophy, and pass to the right arm.",
+    "Take the white microphone handle black accents with the left arm, hand over to the right arm, keep the white microphone handle black accents 0.10m away from the gold-colored prize cup with solid base.",
+    "Using the left arm, take the metal head microphone and hand to the right arm, keeping 0.10m from the gold trophy.",
+    "Secure the microphone with textured metal head, route it at least 0.10m from the trophy with smooth golden surface, then hand it over.",
+    "Use the left arm to lift the compact size microphone, then give the compact size microphone to the right arm, avoiding the award trophy by 0.10m.",
+    "Take the microphone with cylindrical handle with the left arm, route it away from the shiny gold cup with black stand, then hand it to the right arm.",
+    "Have the left arm take the metal head microphone, then the right arm takes the metal head microphone, keep 0.10m from the shiny gold cup with black stand.",
+    "Pick up the microphone for voice recording using the left arm, transfer to the right arm, keep 0.10m from the gold trophy.",
+    "Lift the handheld microphone, keep it 0.10m away from the shiny gold cup with black stand, then pass it across.",
+    "Lift the microphone with rounded mesh head with the left arm, give the microphone with rounded mesh head to the right arm, keep clear of the cup-shaped trophy 0.10m.",
+    "Move the microphone for voice recording from the left arm to the right arm while keeping clear of the gold-colored prize cup with solid base.",
+    "Get the white microphone handle black accents with the left arm, shift the white microphone handle black accents to the right arm, maintaining 0.10m from the smooth gold cup with sturdy pedestal.",
+    "Let the left arm grasp the microphone with cylindrical handle, move it 0.10m from the smooth gold cup with sturdy pedestal, then the right arm receives."
+  ],
+  "unseen": [
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the gold cup with side handles.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the golden cup with black base.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the golden cup with black base, hand to the right arm.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the golden cup with black base by 0.10m.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the gold cup with side handles.",
+    "Pick up the black and white plastic microphone, avoid the gold cup with side handles by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the golden cup with black base.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the golden cup with black base.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the golden award with rectangular black base, hand to the right arm.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the golden award with rectangular black base by 0.10m.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the golden award with rectangular black base.",
+    "Pick up the lightweight handheld microphone, avoid the golden cup with black base by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the golden cup with black base.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the gold cup with side handles.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the golden cup with black base, hand to the right arm.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the golden award with rectangular black base by 0.10m.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the golden award with rectangular black base.",
+    "Pick up the lightweight handheld microphone, avoid the golden cup with black base by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the golden award with rectangular black base.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the gold cup with side handles.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the golden award with rectangular black base, hand to the right arm.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the gold cup with side handles by 0.10m.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the gold cup with side handles.",
+    "Pick up the microphone used for audio input, avoid the golden cup with black base by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the golden cup with black base.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the gold cup with side handles.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the golden award with rectangular black base, hand to the right arm.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the golden cup with black base by 0.10m.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the golden cup with black base.",
+    "Pick up the microphone used for audio input, avoid the gold cup with side handles by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the golden cup with black base.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the gold cup with side handles.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the gold cup with side handles, hand to the right arm.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the golden cup with black base by 0.10m.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the golden award with rectangular black base.",
+    "Pick up the microphone used for audio input, avoid the gold cup with side handles by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the golden award with rectangular black base.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the golden award with rectangular black base.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the golden cup with black base, hand to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the golden award with rectangular black base by 0.10m.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the gold cup with side handles.",
+    "Pick up the microphone used for audio input, avoid the gold cup with side handles by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the golden award with rectangular black base.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the golden award with rectangular black base.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the gold cup with side handles, hand to the right arm.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the golden cup with black base by 0.10m.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the gold cup with side handles.",
+    "Pick up the lightweight handheld microphone, avoid the gold cup with side handles by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the gold cup with side handles.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the gold cup with side handles.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the golden award with rectangular black base, hand to the right arm.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the golden award with rectangular black base by 0.10m.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the gold cup with side handles.",
+    "Pick up the lightweight handheld microphone, avoid the gold cup with side handles by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the golden award with rectangular black base.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the golden award with rectangular black base.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the golden cup with black base, hand to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the golden award with rectangular black base by 0.10m.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the golden award with rectangular black base.",
+    "Pick up the black and white plastic microphone, avoid the golden cup with black base by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the golden cup with black base.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the golden cup with black base.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the golden award with rectangular black base, hand to the right arm.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the golden cup with black base by 0.10m.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the gold cup with side handles.",
+    "Pick up the microphone used for audio input, avoid the gold cup with side handles by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the gold cup with side handles.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the golden award with rectangular black base.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the golden cup with black base, hand to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the golden award with rectangular black base by 0.10m.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the golden cup with black base.",
+    "Pick up the microphone used for audio input, avoid the gold cup with side handles by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the golden cup with black base.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the golden award with rectangular black base.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the golden award with rectangular black base, hand to the right arm.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the golden award with rectangular black base by 0.10m.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the golden cup with black base.",
+    "Pick up the black and white plastic microphone, avoid the golden award with rectangular black base by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the golden cup with black base.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the gold cup with side handles.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the gold cup with side handles, hand to the right arm.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the golden cup with black base by 0.10m.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the gold cup with side handles.",
+    "Pick up the microphone used for audio input, avoid the golden award with rectangular black base by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the golden cup with black base.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the gold cup with side handles.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the gold cup with side handles, hand to the right arm.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the golden cup with black base by 0.10m.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the gold cup with side handles.",
+    "Pick up the microphone used for audio input, avoid the gold cup with side handles by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the golden cup with black base.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the golden award with rectangular black base.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the gold cup with side handles, hand to the right arm.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the gold cup with side handles by 0.10m.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the gold cup with side handles.",
+    "Pick up the microphone used for audio input, avoid the golden cup with black base by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the golden award with rectangular black base.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the gold cup with side handles.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the golden award with rectangular black base, hand to the right arm.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the gold cup with side handles by 0.10m."
+  ]
+}
\ No newline at end of file
diff --git a/handover_mic_wp1/handover_mic_wp1/instructions/episode67.json b/handover_mic_wp1/handover_mic_wp1/instructions/episode67.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ba8ddbb161db626bed37a735833d2eff01ce2dc
--- /dev/null
+++ b/handover_mic_wp1/handover_mic_wp1/instructions/episode67.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Let the right arm grasp the microphone with round foam head, move it 0.10m from the shiny golden prize trophy, then the left arm receives.",
+    "Using the right arm, grab the gray stem microphone with foam top, keep 0.10m from the golden trophy, then give the gray stem microphone with foam top to the left arm.",
+    "Pick up the microphone with smooth gray stem, move it staying 0.10m from the decorative trophy with curved handles, then complete the handoff.",
+    "Pick up the gray and dark blue microphone with the right arm, transfer to the left arm, stay away from the smooth gold cup-shaped trophy.",
+    "Take the gray and dark blue microphone with the right arm, route it away from the medium-sized yellow trophy, then hand it to the left arm.",
+    "Have the right arm grasp the gray and dark blue microphone, avoid the gold cup with handles by 0.10m, and transfer the gray and dark blue microphone to the left arm.",
+    "Using the right arm, take the microphone for recording sound and hand to the left arm, keeping 0.10m from the decorative trophy with curved handles.",
+    "Move the round head microphone from the right arm to the left arm while keeping clear of the glossy yellow trophy with base.",
+    "Grab the microphone with dark blue padding, carry it around the decorative trophy with curved handles with 0.10m clearance, then hand over.",
+    "Pick up the gray stem microphone with foam top using the right arm, transfer to the left arm, keep 0.10m from the smooth gold cup-shaped trophy.",
+    "Get the microphone with round foam head with the right arm, shift the microphone with round foam head to the left arm, maintaining 0.10m from the two-handled prize trophy.",
+    "With the right arm, take the medium microphone with two-tone color, keep distance from the medium-sized yellow trophy, and give the medium microphone with two-tone color to the left arm.",
+    "Have the right arm take the microphone with smooth gray stem, then the left arm takes the microphone with smooth gray stem, keep 0.10m from the trophy cup.",
+    "Lift the microphone covered with foam tip with the right arm, give the microphone covered with foam tip to the left arm, keep clear of the award cup with orange highlights 0.10m.",
+    "Take the gray stem microphone with foam top with the right arm, hand over to the left arm, keep the gray stem microphone with foam top 0.10m away from the two-handled prize trophy.",
+    "Use the right arm to lift the microphone for recording sound, then give the microphone for recording sound to the left arm, avoiding the decorative trophy with curved handles by 0.10m.",
+    "Secure the small audio microphone, route it at least 0.10m from the two-handled prize trophy, then hand it over.",
+    "Take the small audio microphone using the right arm, keep away from the golden award with orange edges, and pass to the left arm.",
+    "Lift the small audio microphone, keep it 0.10m away from the shiny golden prize trophy, then pass it across.",
+    "With the right arm, grasp the microphone with dark blue padding, then hand the microphone with dark blue padding to the left arm, avoiding the golden trophy.",
+    "Let the right arm grasp the microphone with smooth gray stem, move it 0.10m from the gold cup with handles, then the left arm receives.",
+    "Using the right arm, grab the microphone with dark blue padding, keep 0.10m from the decorative trophy with curved handles, then give the microphone with dark blue padding to the left arm.",
+    "Pick up the audio microphone with soft covering, move it staying 0.10m from the award cup with orange highlights, then complete the handoff.",
+    "Pick up the small audio microphone with the right arm, transfer to the left arm, stay away from the glossy yellow trophy with base.",
+    "Take the microphone for recording sound with the right arm, route it away from the smooth gold cup-shaped trophy, then hand it to the left arm.",
+    "Have the right arm grasp the gray stem microphone with foam top, avoid the golden award with orange edges by 0.10m, and transfer the gray stem microphone with foam top to the left arm.",
+    "Using the right arm, take the gray and dark blue microphone and hand to the left arm, keeping 0.10m from the glossy yellow trophy with base.",
+    "Move the gray stem microphone with foam top from the right arm to the left arm while keeping clear of the glossy yellow trophy with base.",
+    "Grab the microphone covered with foam tip, carry it around the two-handled prize trophy with 0.10m clearance, then hand over.",
+    "Pick up the microphone covered with foam tip using the right arm, transfer to the left arm, keep 0.10m from the golden trophy.",
+    "Get the microphone with round foam head with the right arm, shift the microphone with round foam head to the left arm, maintaining 0.10m from the trophy cup.",
+    "With the right arm, take the dark blue microphone, keep distance from the glossy yellow trophy with base, and give the dark blue microphone to the left arm.",
+    "Have the right arm take the microphone with smooth gray stem, then the left arm takes the microphone with smooth gray stem, keep 0.10m from the award trophy.",
+    "Lift the audio microphone with soft covering with the right arm, give the audio microphone with soft covering to the left arm, keep clear of the shiny golden prize trophy 0.10m.",
+    "Take the microphone for recording sound with the right arm, hand over to the left arm, keep the microphone for recording sound 0.10m away from the award cup with orange highlights.",
+    "Use the right arm to lift the microphone with smooth gray stem, then give the microphone with smooth gray stem to the left arm, avoiding the decorative trophy with curved handles by 0.10m.",
+    "Secure the dark blue microphone, route it at least 0.10m from the golden award with orange edges, then hand it over.",
+    "Take the audio microphone with soft covering using the right arm, keep away from the medium-sized yellow trophy, and pass to the left arm.",
+    "Lift the gray stem microphone with foam top, keep it 0.10m away from the award trophy, then pass it across.",
+    "With the right arm, grasp the dark blue microphone, then hand the dark blue microphone to the left arm, avoiding the shiny golden prize trophy.",
+    "Let the right arm grasp the microphone with smooth gray stem, move it 0.10m from the shiny golden prize trophy, then the left arm receives.",
+    "Using the right arm, grab the microphone with dark blue padding, keep 0.10m from the glossy yellow trophy with base, then give the microphone with dark blue padding to the left arm.",
+    "Pick up the microphone covered with foam tip, move it staying 0.10m from the award cup with orange highlights, then complete the handoff.",
+    "Pick up the round head microphone with the right arm, transfer to the left arm, stay away from the medium-sized yellow trophy.",
+    "Take the small audio microphone with the right arm, route it away from the gold cup with handles, then hand it to the left arm.",
+    "Have the right arm grasp the microphone with smooth gray stem, avoid the two-handled prize trophy by 0.10m, and transfer the microphone with smooth gray stem to the left arm.",
+    "Using the right arm, take the microphone with round foam head and hand to the left arm, keeping 0.10m from the glossy yellow trophy with base.",
+    "Move the microphone for recording sound from the right arm to the left arm while keeping clear of the smooth gold cup-shaped trophy.",
+    "Grab the round head microphone, carry it around the award cup with orange highlights with 0.10m clearance, then hand over.",
+    "Pick up the microphone for recording sound using the right arm, transfer to the left arm, keep 0.10m from the medium-sized yellow trophy.",
+    "Get the round head microphone with the right arm, shift the round head microphone to the left arm, maintaining 0.10m from the golden award with orange edges.",
+    "With the right arm, take the microphone with round foam head, keep distance from the medium-sized yellow trophy, and give the microphone with round foam head to the left arm.",
+    "Have the right arm take the medium microphone with two-tone color, then the left arm takes the medium microphone with two-tone color, keep 0.10m from the golden trophy.",
+    "Lift the medium microphone with two-tone color with the right arm, give the medium microphone with two-tone color to the left arm, keep clear of the shiny golden prize trophy 0.10m.",
+    "Take the microphone for recording sound with the right arm, hand over to the left arm, keep the microphone for recording sound 0.10m away from the golden trophy.",
+    "Use the right arm to lift the small audio microphone, then give the small audio microphone to the left arm, avoiding the trophy cup by 0.10m.",
+    "Secure the audio microphone with soft covering, route it at least 0.10m from the shiny golden prize trophy, then hand it over.",
+    "Take the round head microphone using the right arm, keep away from the two-handled prize trophy, and pass to the left arm.",
+    "Lift the medium microphone with two-tone color, keep it 0.10m away from the award trophy, then pass it across.",
+    "With the right arm, grasp the round head microphone, then hand the round head microphone to the left arm, avoiding the golden award with orange edges.",
+    "Let the right arm grasp the microphone with round foam head, move it 0.10m from the glossy yellow trophy with base, then the left arm receives.",
+    "Using the right arm, grab the dark blue microphone, keep 0.10m from the two-handled prize trophy, then give the dark blue microphone to the left arm.",
+    "Pick up the microphone with dark blue padding, move it staying 0.10m from the award cup with orange highlights, then complete the handoff.",
+    "Pick up the gray and dark blue microphone with the right arm, transfer to the left arm, stay away from the smooth gold cup-shaped trophy.",
+    "Take the microphone with round foam head with the right arm, route it away from the trophy cup, then hand it to the left arm.",
+    "Have the right arm grasp the dark blue microphone, avoid the two-handled prize trophy by 0.10m, and transfer the dark blue microphone to the left arm.",
+    "Using the right arm, take the microphone with smooth gray stem and hand to the left arm, keeping 0.10m from the gold cup with handles.",
+    "Move the microphone with round foam head from the right arm to the left arm while keeping clear of the shiny golden prize trophy.",
+    "Grab the microphone with dark blue padding, carry it around the two-handled prize trophy with 0.10m clearance, then hand over.",
+    "Pick up the gray stem microphone with foam top using the right arm, transfer to the left arm, keep 0.10m from the two-handled prize trophy.",
+    "Get the microphone for recording sound with the right arm, shift the microphone for recording sound to the left arm, maintaining 0.10m from the golden award with orange edges.",
+    "With the right arm, take the microphone with dark blue padding, keep distance from the golden award with orange edges, and give the microphone with dark blue padding to the left arm.",
+    "Have the right arm take the medium microphone with two-tone color, then the left arm takes the medium microphone with two-tone color, keep 0.10m from the two-handled prize trophy.",
+    "Lift the microphone covered with foam tip with the right arm, give the microphone covered with foam tip to the left arm, keep clear of the award trophy 0.10m.",
+    "Take the microphone with round foam head with the right arm, hand over to the left arm, keep the microphone with round foam head 0.10m away from the shiny golden prize trophy.",
+    "Use the right arm to lift the microphone covered with foam tip, then give the microphone covered with foam tip to the left arm, avoiding the shiny golden prize trophy by 0.10m.",
+    "Secure the microphone with dark blue padding, route it at least 0.10m from the smooth gold cup-shaped trophy, then hand it over.",
+    "Take the microphone covered with foam tip using the right arm, keep away from the golden award with orange edges, and pass to the left arm.",
+    "Lift the medium microphone with two-tone color, keep it 0.10m away from the gold cup with handles, then pass it across.",
+    "With the right arm, grasp the round head microphone, then hand the round head microphone to the left arm, avoiding the award cup with orange highlights.",
+    "Let the right arm grasp the microphone for recording sound, move it 0.10m from the smooth gold cup-shaped trophy, then the left arm receives.",
+    "Using the right arm, grab the gray stem microphone with foam top, keep 0.10m from the trophy cup, then give the gray stem microphone with foam top to the left arm.",
+    "Pick up the round head microphone, move it staying 0.10m from the golden trophy, then complete the handoff.",
+    "Pick up the microphone covered with foam tip with the right arm, transfer to the left arm, stay away from the golden trophy.",
+    "Take the microphone with dark blue padding with the right arm, route it away from the smooth gold cup-shaped trophy, then hand it to the left arm.",
+    "Have the right arm grasp the microphone with dark blue padding, avoid the medium-sized yellow trophy by 0.10m, and transfer the microphone with dark blue padding to the left arm.",
+    "Using the right arm, take the microphone with round foam head and hand to the left arm, keeping 0.10m from the gold cup with handles.",
+    "Move the microphone for recording sound from the right arm to the left arm while keeping clear of the golden award with orange edges.",
+    "Grab the dark blue microphone, carry it around the medium-sized yellow trophy with 0.10m clearance, then hand over.",
+    "Pick up the round head microphone using the right arm, transfer to the left arm, keep 0.10m from the golden award with orange edges.",
+    "Get the gray stem microphone with foam top with the right arm, shift the gray stem microphone with foam top to the left arm, maintaining 0.10m from the decorative trophy with curved handles.",
+    "With the right arm, take the microphone for recording sound, keep distance from the smooth gold cup-shaped trophy, and give the microphone for recording sound to the left arm.",
+    "Have the right arm take the medium microphone with two-tone color, then the left arm takes the medium microphone with two-tone color, keep 0.10m from the decorative trophy with curved handles.",
+    "Lift the microphone with round foam head with the right arm, give the microphone with round foam head to the left arm, keep clear of the decorative trophy with curved handles 0.10m.",
+    "Take the microphone with smooth gray stem with the right arm, hand over to the left arm, keep the microphone with smooth gray stem 0.10m away from the smooth gold cup-shaped trophy.",
+    "Use the right arm to lift the small audio microphone, then give the small audio microphone to the left arm, avoiding the medium-sized yellow trophy by 0.10m.",
+    "Secure the audio microphone with soft covering, route it at least 0.10m from the award trophy, then hand it over.",
+    "Take the microphone covered with foam tip using the right arm, keep away from the trophy cup, and pass to the left arm.",
+    "Lift the microphone with dark blue padding, keep it 0.10m away from the gold cup with handles, then pass it across.",
+    "With the right arm, grasp the microphone covered with foam tip, then hand the microphone covered with foam tip to the left arm, avoiding the golden trophy."
+  ],
+  "unseen": [
+    "Grab the handheld microphone with the right arm, keep 0.10m from the golden trophy with round base, hand to the left arm.",
+    "Use the right arm to grab the compact microphone with two parts, pass to the left arm, keep the compact microphone with two parts 0.10m from the yellow cup with round stand.",
+    "Grab the handheld microphone with the right arm, hand it to the left arm, avoiding the yellow cup with round stand by 0.10m.",
+    "Pick up the compact microphone with two parts, avoid the golden trophy with round base by 0.10m, pass the compact microphone with two parts from the right arm to the left arm.",
+    "With the right arm, grab the handheld microphone, pass to the left arm, keeping the handheld microphone 0.10m from the yellow cup with round stand.",
+    "Use the right arm to grab the handheld microphone, then pass it to the left arm, avoiding the yellow cup with round stand.",
+    "Grab the microphone with cylindrical handle with the right arm, keep 0.10m from the hand-sized shiny gold trophy, hand to the left arm.",
+    "Use the right arm to grab the microphone with cylindrical handle, pass to the left arm, keep the microphone with cylindrical handle 0.10m from the golden trophy with round base.",
+    "Grab the handheld microphone with the right arm, hand it to the left arm, avoiding the hand-sized shiny gold trophy by 0.10m.",
+    "Pick up the handheld microphone, avoid the golden trophy with round base by 0.10m, pass the handheld microphone from the right arm to the left arm.",
+    "With the right arm, grab the microphone with cylindrical handle, pass to the left arm, keeping the microphone with cylindrical handle 0.10m from the golden trophy with round base.",
+    "Use the right arm to grab the handheld microphone, then pass it to the left arm, avoiding the hand-sized shiny gold trophy.",
+    "Grab the compact microphone with two parts with the right arm, keep 0.10m from the golden trophy with round base, hand to the left arm.",
+    "Use the right arm to grab the handheld microphone, pass to the left arm, keep the handheld microphone 0.10m from the yellow cup with round stand.",
+    "Grab the compact microphone with two parts with the right arm, hand it to the left arm, avoiding the hand-sized shiny gold trophy by 0.10m.",
+    "Pick up the microphone with cylindrical handle, avoid the golden trophy with round base by 0.10m, pass the microphone with cylindrical handle from the right arm to the left arm.",
+    "With the right arm, grab the compact microphone with two parts, pass to the left arm, keeping the compact microphone with two parts 0.10m from the golden trophy with round base.",
+    "Use the right arm to grab the compact microphone with two parts, then pass it to the left arm, avoiding the golden trophy with round base.",
+    "Grab the compact microphone with two parts with the right arm, keep 0.10m from the hand-sized shiny gold trophy, hand to the left arm.",
+    "Use the right arm to grab the microphone with cylindrical handle, pass to the left arm, keep the microphone with cylindrical handle 0.10m from the hand-sized shiny gold trophy.",
+    "Grab the compact microphone with two parts with the right arm, hand it to the left arm, avoiding the hand-sized shiny gold trophy by 0.10m.",
+    "Pick up the compact microphone with two parts, avoid the golden trophy with round base by 0.10m, pass the compact microphone with two parts from the right arm to the left arm.",
+    "With the right arm, grab the microphone with cylindrical handle, pass to the left arm, keeping the microphone with cylindrical handle 0.10m from the golden trophy with round base.",
+    "Use the right arm to grab the handheld microphone, then pass it to the left arm, avoiding the golden trophy with round base.",
+    "Grab the handheld microphone with the right arm, keep 0.10m from the golden trophy with round base, hand to the left arm.",
+    "Use the right arm to grab the compact microphone with two parts, pass to the left arm, keep the compact microphone with two parts 0.10m from the golden trophy with round base.",
+    "Grab the microphone with cylindrical handle with the right arm, hand it to the left arm, avoiding the yellow cup with round stand by 0.10m.",
+    "Pick up the handheld microphone, avoid the golden trophy with round base by 0.10m, pass the handheld microphone from the right arm to the left arm.",
+    "With the right arm, grab the compact microphone with two parts, pass to the left arm, keeping the compact microphone with two parts 0.10m from the golden trophy with round base.",
+    "Use the right arm to grab the compact microphone with two parts, then pass it to the left arm, avoiding the golden trophy with round base.",
+    "Grab the handheld microphone with the right arm, keep 0.10m from the golden trophy with round base, hand to the left arm.",
+    "Use the right arm to grab the compact microphone with two parts, pass to the left arm, keep the compact microphone with two parts 0.10m from the hand-sized shiny gold trophy.",
+    "Grab the compact microphone with two parts with the right arm, hand it to the left arm, avoiding the golden trophy with round base by 0.10m.",
+    "Pick up the compact microphone with two parts, avoid the hand-sized shiny gold trophy by 0.10m, pass the compact microphone with two parts from the right arm to the left arm.",
+    "With the right arm, grab the handheld microphone, pass to the left arm, keeping the handheld microphone 0.10m from the yellow cup with round stand.",
+    "Use the right arm to grab the microphone with cylindrical handle, then pass it to the left arm, avoiding the golden trophy with round base.",
+    "Grab the compact microphone with two parts with the right arm, keep 0.10m from the yellow cup with round stand, hand to the left arm.",
+    "Use the right arm to grab the microphone with cylindrical handle, pass to the left arm, keep the microphone with cylindrical handle 0.10m from the yellow cup with round stand.",
+    "Grab the handheld microphone with the right arm, hand it to the left arm, avoiding the golden trophy with round base by 0.10m.",
+    "Pick up the compact microphone with two parts, avoid the golden trophy with round base by 0.10m, pass the compact microphone with two parts from the right arm to the left arm.",
+    "With the right arm, grab the handheld microphone, pass to the left arm, keeping the handheld microphone 0.10m from the golden trophy with round base.",
+    "Use the right arm to grab the compact microphone with two parts, then pass it to the left arm, avoiding the yellow cup with round stand.",
+    "Grab the compact microphone with two parts with the right arm, keep 0.10m from the golden trophy with round base, hand to the left arm.",
+    "Use the right arm to grab the microphone with cylindrical handle, pass to the left arm, keep the microphone with cylindrical handle 0.10m from the golden trophy with round base.",
+    "Grab the compact microphone with two parts with the right arm, hand it to the left arm, avoiding the hand-sized shiny gold trophy by 0.10m.",
+    "Pick up the compact microphone with two parts, avoid the yellow cup with round stand by 0.10m, pass the compact microphone with two parts from the right arm to the left arm.",
+    "With the right arm, grab the handheld microphone, pass to the left arm, keeping the handheld microphone 0.10m from the yellow cup with round stand.",
+    "Use the right arm to grab the microphone with cylindrical handle, then pass it to the left arm, avoiding the yellow cup with round stand.",
+    "Grab the compact microphone with two parts with the right arm, keep 0.10m from the golden trophy with round base, hand to the left arm.",
+    "Use the right arm to grab the handheld microphone, pass to the left arm, keep the handheld microphone 0.10m from the yellow cup with round stand.",
+    "Grab the microphone with cylindrical handle with the right arm, hand it to the left arm, avoiding the yellow cup with round stand by 0.10m.",
+    "Pick up the compact microphone with two parts, avoid the yellow cup with round stand by 0.10m, pass the compact microphone with two parts from the right arm to the left arm.",
+    "With the right arm, grab the handheld microphone, pass to the left arm, keeping the handheld microphone 0.10m from the golden trophy with round base.",
+    "Use the right arm to grab the compact microphone with two parts, then pass it to the left arm, avoiding the golden trophy with round base.",
+    "Grab the handheld microphone with the right arm, keep 0.10m from the hand-sized shiny gold trophy, hand to the left arm.",
+    "Use the right arm to grab the compact microphone with two parts, pass to the left arm, keep the compact microphone with two parts 0.10m from the golden trophy with round base.",
+    "Grab the microphone with cylindrical handle with the right arm, hand it to the left arm, avoiding the yellow cup with round stand by 0.10m.",
+    "Pick up the handheld microphone, avoid the golden trophy with round base by 0.10m, pass the handheld microphone from the right arm to the left arm.",
+    "With the right arm, grab the compact microphone with two parts, pass to the left arm, keeping the compact microphone with two parts 0.10m from the hand-sized shiny gold trophy.",
+    "Use the right arm to grab the handheld microphone, then pass it to the left arm, avoiding the hand-sized shiny gold trophy.",
+    "Grab the microphone with cylindrical handle with the right arm, keep 0.10m from the hand-sized shiny gold trophy, hand to the left arm.",
+    "Use the right arm to grab the microphone with cylindrical handle, pass to the left arm, keep the microphone with cylindrical handle 0.10m from the yellow cup with round stand.",
+    "Grab the compact microphone with two parts with the right arm, hand it to the left arm, avoiding the hand-sized shiny gold trophy by 0.10m.",
+    "Pick up the microphone with cylindrical handle, avoid the hand-sized shiny gold trophy by 0.10m, pass the microphone with cylindrical handle from the right arm to the left arm.",
+    "With the right arm, grab the compact microphone with two parts, pass to the left arm, keeping the compact microphone with two parts 0.10m from the golden trophy with round base.",
+    "Use the right arm to grab the compact microphone with two parts, then pass it to the left arm, avoiding the yellow cup with round stand.",
+    "Grab the microphone with cylindrical handle with the right arm, keep 0.10m from the yellow cup with round stand, hand to the left arm.",
+    "Use the right arm to grab the microphone with cylindrical handle, pass to the left arm, keep the microphone with cylindrical handle 0.10m from the golden trophy with round base.",
+    "Grab the microphone with cylindrical handle with the right arm, hand it to the left arm, avoiding the golden trophy with round base by 0.10m.",
+    "Pick up the microphone with cylindrical handle, avoid the yellow cup with round stand by 0.10m, pass the microphone with cylindrical handle from the right arm to the left arm.",
+    "With the right arm, grab the handheld microphone, pass to the left arm, keeping the handheld microphone 0.10m from the golden trophy with round base.",
+    "Use the right arm to grab the compact microphone with two parts, then pass it to the left arm, avoiding the golden trophy with round base.",
+    "Grab the compact microphone with two parts with the right arm, keep 0.10m from the yellow cup with round stand, hand to the left arm.",
+    "Use the right arm to grab the microphone with cylindrical handle, pass to the left arm, keep the microphone with cylindrical handle 0.10m from the hand-sized shiny gold trophy.",
+    "Grab the microphone with cylindrical handle with the right arm, hand it to the left arm, avoiding the golden trophy with round base by 0.10m.",
+    "Pick up the handheld microphone, avoid the golden trophy with round base by 0.10m, pass the handheld microphone from the right arm to the left arm.",
+    "With the right arm, grab the handheld microphone, pass to the left arm, keeping the handheld microphone 0.10m from the golden trophy with round base.",
+    "Use the right arm to grab the microphone with cylindrical handle, then pass it to the left arm, avoiding the golden trophy with round base.",
+    "Grab the compact microphone with two parts with the right arm, keep 0.10m from the golden trophy with round base, hand to the left arm.",
+    "Use the right arm to grab the compact microphone with two parts, pass to the left arm, keep the compact microphone with two parts 0.10m from the yellow cup with round stand.",
+    "Grab the handheld microphone with the right arm, hand it to the left arm, avoiding the yellow cup with round stand by 0.10m.",
+    "Pick up the handheld microphone, avoid the hand-sized shiny gold trophy by 0.10m, pass the handheld microphone from the right arm to the left arm.",
+    "With the right arm, grab the microphone with cylindrical handle, pass to the left arm, keeping the microphone with cylindrical handle 0.10m from the hand-sized shiny gold trophy.",
+    "Use the right arm to grab the compact microphone with two parts, then pass it to the left arm, avoiding the hand-sized shiny gold trophy.",
+    "Grab the microphone with cylindrical handle with the right arm, keep 0.10m from the yellow cup with round stand, hand to the left arm.",
+    "Use the right arm to grab the compact microphone with two parts, pass to the left arm, keep the compact microphone with two parts 0.10m from the golden trophy with round base.",
+    "Grab the compact microphone with two parts with the right arm, hand it to the left arm, avoiding the yellow cup with round stand by 0.10m.",
+    "Pick up the compact microphone with two parts, avoid the yellow cup with round stand by 0.10m, pass the compact microphone with two parts from the right arm to the left arm.",
+    "With the right arm, grab the handheld microphone, pass to the left arm, keeping the handheld microphone 0.10m from the yellow cup with round stand.",
+    "Use the right arm to grab the handheld microphone, then pass it to the left arm, avoiding the yellow cup with round stand.",
+    "Grab the handheld microphone with the right arm, keep 0.10m from the hand-sized shiny gold trophy, hand to the left arm.",
+    "Use the right arm to grab the compact microphone with two parts, pass to the left arm, keep the compact microphone with two parts 0.10m from the hand-sized shiny gold trophy.",
+    "Grab the handheld microphone with the right arm, hand it to the left arm, avoiding the yellow cup with round stand by 0.10m.",
+    "Pick up the compact microphone with two parts, avoid the golden trophy with round base by 0.10m, pass the compact microphone with two parts from the right arm to the left arm.",
+    "With the right arm, grab the handheld microphone, pass to the left arm, keeping the handheld microphone 0.10m from the hand-sized shiny gold trophy.",
+    "Use the right arm to grab the handheld microphone, then pass it to the left arm, avoiding the hand-sized shiny gold trophy.",
+    "Grab the compact microphone with two parts with the right arm, keep 0.10m from the yellow cup with round stand, hand to the left arm.",
+    "Use the right arm to grab the microphone with cylindrical handle, pass to the left arm, keep the microphone with cylindrical handle 0.10m from the hand-sized shiny gold trophy.",
+    "Grab the microphone with cylindrical handle with the right arm, hand it to the left arm, avoiding the hand-sized shiny gold trophy by 0.10m.",
+    "Pick up the microphone with cylindrical handle, avoid the yellow cup with round stand by 0.10m, pass the microphone with cylindrical handle from the right arm to the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/handover_mic_wp1/handover_mic_wp1/instructions/episode68.json b/handover_mic_wp1/handover_mic_wp1/instructions/episode68.json
new file mode 100644
index 0000000000000000000000000000000000000000..726384e0dfe88baf4023b6f0228103b430436b13
--- /dev/null
+++ b/handover_mic_wp1/handover_mic_wp1/instructions/episode68.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to lift the audio microphone with soft covering, then give the audio microphone with soft covering to the left arm, avoiding the decorative trophy with curved handles by 0.10m.",
+    "Get the microphone with smooth gray stem with the right arm, shift the microphone with smooth gray stem to the left arm, maintaining 0.10m from the gold trophy on square black base.",
+    "Take the gray stem microphone with foam top with the right arm, hand over to the left arm, keep the gray stem microphone with foam top 0.10m away from the black bottom trophy with smooth finish.",
+    "Have the right arm grasp the medium microphone with two-tone color, avoid the trophy with dangling ribbons by 0.10m, and transfer the medium microphone with two-tone color to the left arm.",
+    "Pick up the small audio microphone, move it staying 0.10m from the gold trophy on square black base, then complete the handoff.",
+    "Take the gray and dark blue microphone with the right arm, route it away from the cup-shaped trophy with handles, then hand it to the left arm.",
+    "Let the right arm grasp the gray stem microphone with foam top, move it 0.10m from the golden award trophy with black base, then the left arm receives.",
+    "Lift the medium microphone with two-tone color with the right arm, give the medium microphone with two-tone color to the left arm, keep clear of the cup-shaped trophy with handles 0.10m.",
+    "Move the small audio microphone from the right arm to the left arm while keeping clear of the trophy cup with curved sides.",
+    "Pick up the microphone covered with foam tip using the right arm, transfer to the left arm, keep 0.10m from the decorative trophy with curved handles.",
+    "Pick up the audio microphone with soft covering with the right arm, transfer to the left arm, stay away from the medium trophy with gold and black colors.",
+    "Secure the microphone covered with foam tip, route it at least 0.10m from the trophy with dangling ribbons, then hand it over.",
+    "Grab the microphone covered with foam tip, carry it around the gold award cup with two handles with 0.10m clearance, then hand over.",
+    "Take the gray and dark blue microphone using the right arm, keep away from the gold trophy, and pass to the left arm.",
+    "Have the right arm take the microphone covered with foam tip, then the left arm takes the microphone covered with foam tip, keep 0.10m from the gold award cup with two handles.",
+    "With the right arm, take the microphone for recording sound, keep distance from the gold award cup with two handles, and give the microphone for recording sound to the left arm.",
+    "Using the right arm, take the microphone with round foam head and hand to the left arm, keeping 0.10m from the cup-shaped trophy with handles.",
+    "Lift the round head microphone, keep it 0.10m away from the golden award trophy with black base, then pass it across.",
+    "With the right arm, grasp the gray stem microphone with foam top, then hand the gray stem microphone with foam top to the left arm, avoiding the medium trophy with gold and black colors.",
+    "Using the right arm, grab the small audio microphone, keep 0.10m from the decorative trophy with curved handles, then give the small audio microphone to the left arm.",
+    "Use the right arm to lift the dark blue microphone, then give the dark blue microphone to the left arm, avoiding the gold trophy by 0.10m.",
+    "Get the microphone with round foam head with the right arm, shift the microphone with round foam head to the left arm, maintaining 0.10m from the medium-sized golden trophy.",
+    "Take the microphone with round foam head with the right arm, hand over to the left arm, keep the microphone with round foam head 0.10m away from the shiny trophy with top knob.",
+    "Have the right arm grasp the gray and dark blue microphone, avoid the medium trophy with gold and black colors by 0.10m, and transfer the gray and dark blue microphone to the left arm.",
+    "Pick up the gray and dark blue microphone, move it staying 0.10m from the medium trophy with gold and black colors, then complete the handoff.",
+    "Take the audio microphone with soft covering with the right arm, route it away from the gold trophy, then hand it to the left arm.",
+    "Let the right arm grasp the small audio microphone, move it 0.10m from the gold trophy on square black base, then the left arm receives.",
+    "Lift the microphone with round foam head with the right arm, give the microphone with round foam head to the left arm, keep clear of the golden award trophy with black base 0.10m.",
+    "Move the gray and dark blue microphone from the right arm to the left arm while keeping clear of the golden award trophy with black base.",
+    "Pick up the microphone for recording sound using the right arm, transfer to the left arm, keep 0.10m from the black bottom trophy with smooth finish.",
+    "Pick up the microphone with dark blue padding with the right arm, transfer to the left arm, stay away from the medium trophy with gold and black colors.",
+    "Secure the microphone with dark blue padding, route it at least 0.10m from the cup-shaped trophy with handles, then hand it over.",
+    "Grab the gray stem microphone with foam top, carry it around the gold trophy with 0.10m clearance, then hand over.",
+    "Take the microphone for recording sound using the right arm, keep away from the cup-shaped trophy with handles, and pass to the left arm.",
+    "Have the right arm take the small audio microphone, then the left arm takes the small audio microphone, keep 0.10m from the black bottom trophy with smooth finish.",
+    "With the right arm, take the microphone for recording sound, keep distance from the golden award trophy with black base, and give the microphone for recording sound to the left arm.",
+    "Using the right arm, take the microphone covered with foam tip and hand to the left arm, keeping 0.10m from the gold trophy.",
+    "Lift the microphone with smooth gray stem, keep it 0.10m away from the shiny trophy with top knob, then pass it across.",
+    "With the right arm, grasp the dark blue microphone, then hand the dark blue microphone to the left arm, avoiding the cup-shaped trophy with handles.",
+    "Using the right arm, grab the microphone with dark blue padding, keep 0.10m from the gold trophy on square black base, then give the microphone with dark blue padding to the left arm.",
+    "Use the right arm to lift the microphone covered with foam tip, then give the microphone covered with foam tip to the left arm, avoiding the black bottom trophy with smooth finish by 0.10m.",
+    "Get the microphone for recording sound with the right arm, shift the microphone for recording sound to the left arm, maintaining 0.10m from the golden award trophy with black base.",
+    "Take the microphone with dark blue padding with the right arm, hand over to the left arm, keep the microphone with dark blue padding 0.10m away from the medium-sized golden trophy.",
+    "Have the right arm grasp the gray and dark blue microphone, avoid the gold award cup with two handles by 0.10m, and transfer the gray and dark blue microphone to the left arm.",
+    "Pick up the gray and dark blue microphone, move it staying 0.10m from the trophy cup with curved sides, then complete the handoff.",
+    "Take the small audio microphone with the right arm, route it away from the decorative trophy with curved handles, then hand it to the left arm.",
+    "Let the right arm grasp the dark blue microphone, move it 0.10m from the black bottom trophy with smooth finish, then the left arm receives.",
+    "Lift the microphone for recording sound with the right arm, give the microphone for recording sound to the left arm, keep clear of the golden award trophy with black base 0.10m.",
+    "Move the microphone with round foam head from the right arm to the left arm while keeping clear of the gold trophy.",
+    "Pick up the microphone with round foam head using the right arm, transfer to the left arm, keep 0.10m from the shiny trophy with top knob.",
+    "Pick up the gray and dark blue microphone with the right arm, transfer to the left arm, stay away from the shiny trophy with top knob.",
+    "Secure the audio microphone with soft covering, route it at least 0.10m from the golden award trophy with black base, then hand it over.",
+    "Grab the microphone covered with foam tip, carry it around the trophy with dangling ribbons with 0.10m clearance, then hand over.",
+    "Take the audio microphone with soft covering using the right arm, keep away from the golden award trophy with black base, and pass to the left arm.",
+    "Have the right arm take the gray stem microphone with foam top, then the left arm takes the gray stem microphone with foam top, keep 0.10m from the golden award trophy with black base.",
+    "With the right arm, take the medium microphone with two-tone color, keep distance from the gold award cup with two handles, and give the medium microphone with two-tone color to the left arm.",
+    "Using the right arm, take the small audio microphone and hand to the left arm, keeping 0.10m from the trophy cup with curved sides.",
+    "Lift the small audio microphone, keep it 0.10m away from the trophy with dangling ribbons, then pass it across.",
+    "With the right arm, grasp the audio microphone with soft covering, then hand the audio microphone with soft covering to the left arm, avoiding the decorative trophy with curved handles.",
+    "Using the right arm, grab the microphone with dark blue padding, keep 0.10m from the trophy cup with curved sides, then give the microphone with dark blue padding to the left arm.",
+    "Use the right arm to lift the microphone with smooth gray stem, then give the microphone with smooth gray stem to the left arm, avoiding the trophy with dangling ribbons by 0.10m.",
+    "Get the gray stem microphone with foam top with the right arm, shift the gray stem microphone with foam top to the left arm, maintaining 0.10m from the medium trophy with gold and black colors.",
+    "Take the microphone covered with foam tip with the right arm, hand over to the left arm, keep the microphone covered with foam tip 0.10m away from the gold award cup with two handles.",
+    "Have the right arm grasp the medium microphone with two-tone color, avoid the gold trophy on square black base by 0.10m, and transfer the medium microphone with two-tone color to the left arm.",
+    "Pick up the small audio microphone, move it staying 0.10m from the cup-shaped trophy with handles, then complete the handoff.",
+    "Take the microphone covered with foam tip with the right arm, route it away from the cup-shaped trophy with handles, then hand it to the left arm.",
+    "Let the right arm grasp the small audio microphone, move it 0.10m from the cup-shaped trophy with handles, then the left arm receives.",
+    "Lift the microphone for recording sound with the right arm, give the microphone for recording sound to the left arm, keep clear of the black bottom trophy with smooth finish 0.10m.",
+    "Move the microphone for recording sound from the right arm to the left arm while keeping clear of the trophy cup with curved sides.",
+    "Pick up the microphone with smooth gray stem using the right arm, transfer to the left arm, keep 0.10m from the black bottom trophy with smooth finish.",
+    "Pick up the microphone for recording sound with the right arm, transfer to the left arm, stay away from the trophy with dangling ribbons.",
+    "Secure the microphone with smooth gray stem, route it at least 0.10m from the shiny trophy with top knob, then hand it over.",
+    "Grab the gray and dark blue microphone, carry it around the gold trophy on square black base with 0.10m clearance, then hand over.",
+    "Take the small audio microphone using the right arm, keep away from the black bottom trophy with smooth finish, and pass to the left arm.",
+    "Have the right arm take the gray stem microphone with foam top, then the left arm takes the gray stem microphone with foam top, keep 0.10m from the trophy with dangling ribbons.",
+    "With the right arm, take the small audio microphone, keep distance from the black bottom trophy with smooth finish, and give the small audio microphone to the left arm.",
+    "Using the right arm, take the medium microphone with two-tone color and hand to the left arm, keeping 0.10m from the trophy with dangling ribbons.",
+    "Lift the dark blue microphone, keep it 0.10m away from the shiny trophy with top knob, then pass it across.",
+    "With the right arm, grasp the audio microphone with soft covering, then hand the audio microphone with soft covering to the left arm, avoiding the gold award cup with two handles.",
+    "Using the right arm, grab the gray stem microphone with foam top, keep 0.10m from the gold trophy, then give the gray stem microphone with foam top to the left arm.",
+    "Use the right arm to lift the microphone for recording sound, then give the microphone for recording sound to the left arm, avoiding the decorative trophy with curved handles by 0.10m.",
+    "Get the round head microphone with the right arm, shift the round head microphone to the left arm, maintaining 0.10m from the medium trophy with gold and black colors.",
+    "Take the microphone with smooth gray stem with the right arm, hand over to the left arm, keep the microphone with smooth gray stem 0.10m away from the cup-shaped trophy with handles.",
+    "Have the right arm grasp the microphone with round foam head, avoid the shiny trophy with top knob by 0.10m, and transfer the microphone with round foam head to the left arm.",
+    "Pick up the gray stem microphone with foam top, move it staying 0.10m from the decorative trophy with curved handles, then complete the handoff.",
+    "Take the audio microphone with soft covering with the right arm, route it away from the cup-shaped trophy with handles, then hand it to the left arm.",
+    "Let the right arm grasp the microphone for recording sound, move it 0.10m from the medium trophy with gold and black colors, then the left arm receives.",
+    "Lift the audio microphone with soft covering with the right arm, give the audio microphone with soft covering to the left arm, keep clear of the medium trophy with gold and black colors 0.10m.",
+    "Move the microphone with dark blue padding from the right arm to the left arm while keeping clear of the decorative trophy with curved handles.",
+    "Pick up the microphone covered with foam tip using the right arm, transfer to the left arm, keep 0.10m from the trophy with dangling ribbons.",
+    "Pick up the microphone covered with foam tip with the right arm, transfer to the left arm, stay away from the gold trophy.",
+    "Secure the medium microphone with two-tone color, route it at least 0.10m from the gold trophy on square black base, then hand it over.",
+    "Grab the microphone covered with foam tip, carry it around the gold award cup with two handles with 0.10m clearance, then hand over.",
+    "Take the gray stem microphone with foam top using the right arm, keep away from the cup-shaped trophy with handles, and pass to the left arm.",
+    "Have the right arm take the gray stem microphone with foam top, then the left arm takes the gray stem microphone with foam top, keep 0.10m from the trophy with dangling ribbons.",
+    "With the right arm, take the dark blue microphone, keep distance from the trophy with dangling ribbons, and give the dark blue microphone to the left arm.",
+    "Using the right arm, take the microphone covered with foam tip and hand to the left arm, keeping 0.10m from the gold trophy.",
+    "Lift the microphone with dark blue padding, keep it 0.10m away from the golden award trophy with black base, then pass it across.",
+    "With the right arm, grasp the microphone for recording sound, then hand the microphone for recording sound to the left arm, avoiding the golden award trophy with black base.",
+    "Using the right arm, grab the microphone with smooth gray stem, keep 0.10m from the gold award cup with two handles, then give the microphone with smooth gray stem to the left arm."
+  ],
+  "unseen": [
+    "Grab the handheld microphone with the right arm, hand it to the left arm, avoiding the shiny trophy cup by 0.10m.",
+    "Use the right arm to grab the handheld microphone, then pass it to the left arm, avoiding the shiny trophy cup.",
+    "Use the right arm to grab the handheld microphone, pass to the left arm, keep the handheld microphone 0.10m from the trophy with red and blue ribbons.",
+    "Grab the compact microphone with two parts with the right arm, keep 0.10m from the shiny trophy cup, hand to the left arm.",
+    "With the right arm, grab the microphone with cylindrical handle, pass to the left arm, keeping the microphone with cylindrical handle 0.10m from the smooth golden trophy.",
+    "Pick up the handheld microphone, avoid the smooth golden trophy by 0.10m, pass the handheld microphone from the right arm to the left arm.",
+    "Grab the compact microphone with two parts with the right arm, hand it to the left arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "Use the right arm to grab the compact microphone with two parts, then pass it to the left arm, avoiding the smooth golden trophy.",
+    "Use the right arm to grab the compact microphone with two parts, pass to the left arm, keep the compact microphone with two parts 0.10m from the shiny trophy cup.",
+    "Grab the handheld microphone with the right arm, keep 0.10m from the smooth golden trophy, hand to the left arm.",
+    "With the right arm, grab the microphone with cylindrical handle, pass to the left arm, keeping the microphone with cylindrical handle 0.10m from the shiny trophy cup.",
+    "Pick up the microphone with cylindrical handle, avoid the trophy with red and blue ribbons by 0.10m, pass the microphone with cylindrical handle from the right arm to the left arm.",
+    "Grab the handheld microphone with the right arm, hand it to the left arm, avoiding the smooth golden trophy by 0.10m.",
+    "Use the right arm to grab the handheld microphone, then pass it to the left arm, avoiding the trophy with red and blue ribbons.",
+    "Use the right arm to grab the handheld microphone, pass to the left arm, keep the handheld microphone 0.10m from the shiny trophy cup.",
+    "Grab the microphone with cylindrical handle with the right arm, keep 0.10m from the shiny trophy cup, hand to the left arm.",
+    "With the right arm, grab the handheld microphone, pass to the left arm, keeping the handheld microphone 0.10m from the trophy with red and blue ribbons.",
+    "Pick up the microphone with cylindrical handle, avoid the smooth golden trophy by 0.10m, pass the microphone with cylindrical handle from the right arm to the left arm.",
+    "Grab the compact microphone with two parts with the right arm, hand it to the left arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "Use the right arm to grab the compact microphone with two parts, then pass it to the left arm, avoiding the shiny trophy cup.",
+    "Use the right arm to grab the microphone with cylindrical handle, pass to the left arm, keep the microphone with cylindrical handle 0.10m from the shiny trophy cup.",
+    "Grab the handheld microphone with the right arm, keep 0.10m from the trophy with red and blue ribbons, hand to the left arm.",
+    "With the right arm, grab the handheld microphone, pass to the left arm, keeping the handheld microphone 0.10m from the smooth golden trophy.",
+    "Pick up the microphone with cylindrical handle, avoid the smooth golden trophy by 0.10m, pass the microphone with cylindrical handle from the right arm to the left arm.",
+    "Grab the handheld microphone with the right arm, hand it to the left arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "Use the right arm to grab the microphone with cylindrical handle, then pass it to the left arm, avoiding the smooth golden trophy.",
+    "Use the right arm to grab the microphone with cylindrical handle, pass to the left arm, keep the microphone with cylindrical handle 0.10m from the smooth golden trophy.",
+    "Grab the compact microphone with two parts with the right arm, keep 0.10m from the shiny trophy cup, hand to the left arm.",
+    "With the right arm, grab the microphone with cylindrical handle, pass to the left arm, keeping the microphone with cylindrical handle 0.10m from the shiny trophy cup.",
+    "Pick up the microphone with cylindrical handle, avoid the shiny trophy cup by 0.10m, pass the microphone with cylindrical handle from the right arm to the left arm.",
+    "Grab the compact microphone with two parts with the right arm, hand it to the left arm, avoiding the shiny trophy cup by 0.10m.",
+    "Use the right arm to grab the handheld microphone, then pass it to the left arm, avoiding the smooth golden trophy.",
+    "Use the right arm to grab the compact microphone with two parts, pass to the left arm, keep the compact microphone with two parts 0.10m from the trophy with red and blue ribbons.",
+    "Grab the handheld microphone with the right arm, keep 0.10m from the shiny trophy cup, hand to the left arm.",
+    "With the right arm, grab the handheld microphone, pass to the left arm, keeping the handheld microphone 0.10m from the smooth golden trophy.",
+    "Pick up the compact microphone with two parts, avoid the smooth golden trophy by 0.10m, pass the compact microphone with two parts from the right arm to the left arm.",
+    "Grab the compact microphone with two parts with the right arm, hand it to the left arm, avoiding the smooth golden trophy by 0.10m.",
+    "Use the right arm to grab the compact microphone with two parts, then pass it to the left arm, avoiding the shiny trophy cup.",
+    "Use the right arm to grab the compact microphone with two parts, pass to the left arm, keep the compact microphone with two parts 0.10m from the shiny trophy cup.",
+    "Grab the microphone with cylindrical handle with the right arm, keep 0.10m from the trophy with red and blue ribbons, hand to the left arm.",
+    "With the right arm, grab the handheld microphone, pass to the left arm, keeping the handheld microphone 0.10m from the smooth golden trophy.",
+    "Pick up the compact microphone with two parts, avoid the trophy with red and blue ribbons by 0.10m, pass the compact microphone with two parts from the right arm to the left arm.",
+    "Grab the handheld microphone with the right arm, hand it to the left arm, avoiding the smooth golden trophy by 0.10m.",
+    "Use the right arm to grab the compact microphone with two parts, then pass it to the left arm, avoiding the smooth golden trophy.",
+    "Use the right arm to grab the handheld microphone, pass to the left arm, keep the handheld microphone 0.10m from the shiny trophy cup.",
+    "Grab the microphone with cylindrical handle with the right arm, keep 0.10m from the smooth golden trophy, hand to the left arm.",
+    "With the right arm, grab the handheld microphone, pass to the left arm, keeping the handheld microphone 0.10m from the shiny trophy cup.",
+    "Pick up the handheld microphone, avoid the smooth golden trophy by 0.10m, pass the handheld microphone from the right arm to the left arm.",
+    "Grab the handheld microphone with the right arm, hand it to the left arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "Use the right arm to grab the microphone with cylindrical handle, then pass it to the left arm, avoiding the smooth golden trophy.",
+    "Use the right arm to grab the microphone with cylindrical handle, pass to the left arm, keep the microphone with cylindrical handle 0.10m from the trophy with red and blue ribbons.",
+    "Grab the compact microphone with two parts with the right arm, keep 0.10m from the trophy with red and blue ribbons, hand to the left arm.",
+    "With the right arm, grab the compact microphone with two parts, pass to the left arm, keeping the compact microphone with two parts 0.10m from the shiny trophy cup.",
+    "Pick up the compact microphone with two parts, avoid the trophy with red and blue ribbons by 0.10m, pass the compact microphone with two parts from the right arm to the left arm.",
+    "Grab the compact microphone with two parts with the right arm, hand it to the left arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "Use the right arm to grab the compact microphone with two parts, then pass it to the left arm, avoiding the trophy with red and blue ribbons.",
+    "Use the right arm to grab the compact microphone with two parts, pass to the left arm, keep the compact microphone with two parts 0.10m from the trophy with red and blue ribbons.",
+    "Grab the microphone with cylindrical handle with the right arm, keep 0.10m from the smooth golden trophy, hand to the left arm.",
+    "With the right arm, grab the compact microphone with two parts, pass to the left arm, keeping the compact microphone with two parts 0.10m from the shiny trophy cup.",
+    "Pick up the compact microphone with two parts, avoid the shiny trophy cup by 0.10m, pass the compact microphone with two parts from the right arm to the left arm.",
+    "Grab the handheld microphone with the right arm, hand it to the left arm, avoiding the shiny trophy cup by 0.10m.",
+    "Use the right arm to grab the microphone with cylindrical handle, then pass it to the left arm, avoiding the smooth golden trophy.",
+    "Use the right arm to grab the compact microphone with two parts, pass to the left arm, keep the compact microphone with two parts 0.10m from the smooth golden trophy.",
+    "Grab the compact microphone with two parts with the right arm, keep 0.10m from the shiny trophy cup, hand to the left arm.",
+    "With the right arm, grab the handheld microphone, pass to the left arm, keeping the handheld microphone 0.10m from the smooth golden trophy.",
+    "Pick up the compact microphone with two parts, avoid the trophy with red and blue ribbons by 0.10m, pass the compact microphone with two parts from the right arm to the left arm.",
+    "Grab the microphone with cylindrical handle with the right arm, hand it to the left arm, avoiding the smooth golden trophy by 0.10m.",
+    "Use the right arm to grab the compact microphone with two parts, then pass it to the left arm, avoiding the smooth golden trophy.",
+    "Use the right arm to grab the handheld microphone, pass to the left arm, keep the handheld microphone 0.10m from the smooth golden trophy.",
+    "Grab the handheld microphone with the right arm, keep 0.10m from the shiny trophy cup, hand to the left arm.",
+    "With the right arm, grab the handheld microphone, pass to the left arm, keeping the handheld microphone 0.10m from the trophy with red and blue ribbons.",
+    "Pick up the compact microphone with two parts, avoid the shiny trophy cup by 0.10m, pass the compact microphone with two parts from the right arm to the left arm.",
+    "Grab the handheld microphone with the right arm, hand it to the left arm, avoiding the shiny trophy cup by 0.10m.",
+    "Use the right arm to grab the microphone with cylindrical handle, then pass it to the left arm, avoiding the trophy with red and blue ribbons.",
+    "Use the right arm to grab the handheld microphone, pass to the left arm, keep the handheld microphone 0.10m from the smooth golden trophy.",
+    "Grab the handheld microphone with the right arm, keep 0.10m from the trophy with red and blue ribbons, hand to the left arm.",
+    "With the right arm, grab the compact microphone with two parts, pass to the left arm, keeping the compact microphone with two parts 0.10m from the smooth golden trophy.",
+    "Pick up the compact microphone with two parts, avoid the shiny trophy cup by 0.10m, pass the compact microphone with two parts from the right arm to the left arm.",
+    "Grab the handheld microphone with the right arm, hand it to the left arm, avoiding the smooth golden trophy by 0.10m.",
+    "Use the right arm to grab the compact microphone with two parts, then pass it to the left arm, avoiding the smooth golden trophy.",
+    "Use the right arm to grab the compact microphone with two parts, pass to the left arm, keep the compact microphone with two parts 0.10m from the trophy with red and blue ribbons.",
+    "Grab the handheld microphone with the right arm, keep 0.10m from the smooth golden trophy, hand to the left arm.",
+    "With the right arm, grab the handheld microphone, pass to the left arm, keeping the handheld microphone 0.10m from the smooth golden trophy.",
+    "Pick up the compact microphone with two parts, avoid the smooth golden trophy by 0.10m, pass the compact microphone with two parts from the right arm to the left arm.",
+    "Grab the compact microphone with two parts with the right arm, hand it to the left arm, avoiding the shiny trophy cup by 0.10m.",
+    "Use the right arm to grab the compact microphone with two parts, then pass it to the left arm, avoiding the smooth golden trophy.",
+    "Use the right arm to grab the handheld microphone, pass to the left arm, keep the handheld microphone 0.10m from the smooth golden trophy.",
+    "Grab the handheld microphone with the right arm, keep 0.10m from the trophy with red and blue ribbons, hand to the left arm.",
+    "With the right arm, grab the microphone with cylindrical handle, pass to the left arm, keeping the microphone with cylindrical handle 0.10m from the shiny trophy cup.",
+    "Pick up the microphone with cylindrical handle, avoid the smooth golden trophy by 0.10m, pass the microphone with cylindrical handle from the right arm to the left arm.",
+    "Grab the compact microphone with two parts with the right arm, hand it to the left arm, avoiding the smooth golden trophy by 0.10m.",
+    "Use the right arm to grab the microphone with cylindrical handle, then pass it to the left arm, avoiding the smooth golden trophy.",
+    "Use the right arm to grab the handheld microphone, pass to the left arm, keep the handheld microphone 0.10m from the smooth golden trophy.",
+    "Grab the handheld microphone with the right arm, keep 0.10m from the smooth golden trophy, hand to the left arm.",
+    "With the right arm, grab the microphone with cylindrical handle, pass to the left arm, keeping the microphone with cylindrical handle 0.10m from the trophy with red and blue ribbons.",
+    "Pick up the microphone with cylindrical handle, avoid the shiny trophy cup by 0.10m, pass the microphone with cylindrical handle from the right arm to the left arm.",
+    "Grab the handheld microphone with the right arm, hand it to the left arm, avoiding the smooth golden trophy by 0.10m.",
+    "Use the right arm to grab the microphone with cylindrical handle, then pass it to the left arm, avoiding the shiny trophy cup.",
+    "Use the right arm to grab the compact microphone with two parts, pass to the left arm, keep the compact microphone with two parts 0.10m from the trophy with red and blue ribbons.",
+    "Grab the compact microphone with two parts with the right arm, keep 0.10m from the shiny trophy cup, hand to the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/handover_mic_wp1/handover_mic_wp1/instructions/episode69.json b/handover_mic_wp1/handover_mic_wp1/instructions/episode69.json
new file mode 100644
index 0000000000000000000000000000000000000000..b6dcc00d3eb6c003af19baad81d58029fd337643
--- /dev/null
+++ b/handover_mic_wp1/handover_mic_wp1/instructions/episode69.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the mesh-patterned microphone head using the left arm, transfer to the right arm, keep 0.10m from the medium-sized prize trophy.",
+    "Lift the smooth plastic microphone handle, keep it 0.10m away from the shiny gold trophy with black stand, then pass it across.",
+    "Get the microphone with rounded mesh head with the left arm, shift the microphone with rounded mesh head to the right arm, maintaining 0.10m from the gold trophy.",
+    "With the left arm, take the black and white microphone, keep distance from the medium-sized prize trophy, and give the black and white microphone to the right arm.",
+    "Secure the microphone with rounded mesh head, route it at least 0.10m from the trophy with two side handles, then hand it over.",
+    "Grab the microphone with rounded mesh head, carry it around the medium-sized prize trophy with 0.10m clearance, then hand over.",
+    "Move the black and white microphone from the left arm to the right arm while keeping clear of the trophy with detailed top and base.",
+    "Use the left arm to lift the microphone with rounded mesh head, then give the microphone with rounded mesh head to the right arm, avoiding the medium-sized prize trophy by 0.10m.",
+    "Pick up the microphone with rounded mesh head, move it staying 0.10m from the trophy with detailed top and base, then complete the handoff.",
+    "Using the left arm, take the microphone with black tip and white body and hand to the right arm, keeping 0.10m from the centerpiece gold trophy on sturdy base.",
+    "Have the left arm grasp the black and white microphone, avoid the medium-sized prize trophy by 0.10m, and transfer the black and white microphone to the right arm.",
+    "Pick up the black and white microphone with the left arm, transfer to the right arm, stay away from the ornate gold cup.",
+    "With the left arm, grasp the white microphone handle black accents, then hand the white microphone handle black accents to the right arm, avoiding the gold cup on black base.",
+    "Have the left arm take the mesh-patterned microphone head, then the right arm takes the mesh-patterned microphone head, keep 0.10m from the gold trophy.",
+    "Take the microphone with cylindrical handle using the left arm, keep away from the award trophy with black platform, and pass to the right arm.",
+    "Let the left arm grasp the microphone with rounded mesh head, move it 0.10m from the trophy with two side handles, then the right arm receives.",
+    "Using the left arm, grab the smooth plastic microphone handle, keep 0.10m from the medium-sized prize trophy, then give the smooth plastic microphone handle to the right arm.",
+    "Lift the microphone with textured metal head with the left arm, give the microphone with textured metal head to the right arm, keep clear of the shiny gold trophy with black stand 0.10m.",
+    "Take the microphone with black tip and white body with the left arm, hand over to the right arm, keep the microphone with black tip and white body 0.10m away from the gold and black prize cup.",
+    "Take the microphone with black tip and white body with the left arm, route it away from the award trophy with black platform, then hand it to the right arm.",
+    "Pick up the microphone with cylindrical handle using the left arm, transfer to the right arm, keep 0.10m from the award trophy with black platform.",
+    "Lift the black and white microphone, keep it 0.10m away from the medium-sized prize trophy, then pass it across.",
+    "Get the microphone with cylindrical handle with the left arm, shift the microphone with cylindrical handle to the right arm, maintaining 0.10m from the gold trophy.",
+    "With the left arm, take the microphone with cylindrical handle, keep distance from the trophy with smooth polished finish, and give the microphone with cylindrical handle to the right arm.",
+    "Secure the microphone with cylindrical handle, route it at least 0.10m from the two-handled golden trophy, then hand it over.",
+    "Grab the mesh-patterned microphone head, carry it around the gold and black prize cup with 0.10m clearance, then hand over.",
+    "Move the compact size microphone from the left arm to the right arm while keeping clear of the trophy with detailed top and base.",
+    "Use the left arm to lift the microphone for voice recording, then give the microphone for voice recording to the right arm, avoiding the award trophy with black platform by 0.10m.",
+    "Pick up the microphone with textured metal head, move it staying 0.10m from the medium-sized prize trophy, then complete the handoff.",
+    "Using the left arm, take the microphone with rounded mesh head and hand to the right arm, keeping 0.10m from the medium-sized prize trophy.",
+    "Have the left arm grasp the microphone with cylindrical handle, avoid the medium-sized prize trophy by 0.10m, and transfer the microphone with cylindrical handle to the right arm.",
+    "Pick up the smooth plastic microphone handle with the left arm, transfer to the right arm, stay away from the ornate gold cup.",
+    "With the left arm, grasp the mesh-patterned microphone head, then hand the mesh-patterned microphone head to the right arm, avoiding the medium-sized prize trophy.",
+    "Have the left arm take the compact size microphone, then the right arm takes the compact size microphone, keep 0.10m from the two-handled golden trophy.",
+    "Take the microphone with rounded mesh head using the left arm, keep away from the trophy with two side handles, and pass to the right arm.",
+    "Let the left arm grasp the metal head microphone, move it 0.10m from the shiny gold trophy with black stand, then the right arm receives.",
+    "Using the left arm, grab the black and white microphone, keep 0.10m from the trophy with smooth polished finish, then give the black and white microphone to the right arm.",
+    "Lift the black and white microphone with the left arm, give the black and white microphone to the right arm, keep clear of the two-handled golden trophy 0.10m.",
+    "Take the microphone with rounded mesh head with the left arm, hand over to the right arm, keep the microphone with rounded mesh head 0.10m away from the ornate gold cup.",
+    "Take the microphone with black tip and white body with the left arm, route it away from the centerpiece gold trophy on sturdy base, then hand it to the right arm.",
+    "Pick up the white microphone handle black accents using the left arm, transfer to the right arm, keep 0.10m from the gold and black prize cup.",
+    "Lift the mesh-patterned microphone head, keep it 0.10m away from the trophy with detailed top and base, then pass it across.",
+    "Get the microphone with cylindrical handle with the left arm, shift the microphone with cylindrical handle to the right arm, maintaining 0.10m from the centerpiece gold trophy on sturdy base.",
+    "With the left arm, take the microphone for voice recording, keep distance from the medium-sized prize trophy, and give the microphone for voice recording to the right arm.",
+    "Secure the microphone for voice recording, route it at least 0.10m from the shiny gold trophy with black stand, then hand it over.",
+    "Grab the metal head microphone, carry it around the gold trophy with 0.10m clearance, then hand over.",
+    "Move the smooth plastic microphone handle from the left arm to the right arm while keeping clear of the two-handled golden trophy.",
+    "Use the left arm to lift the microphone for voice recording, then give the microphone for voice recording to the right arm, avoiding the award trophy with black platform by 0.10m.",
+    "Pick up the compact size microphone, move it staying 0.10m from the ornate gold cup, then complete the handoff.",
+    "Using the left arm, take the microphone for voice recording and hand to the right arm, keeping 0.10m from the trophy with detailed top and base.",
+    "Have the left arm grasp the microphone with cylindrical handle, avoid the award trophy with black platform by 0.10m, and transfer the microphone with cylindrical handle to the right arm.",
+    "Pick up the black and white microphone with the left arm, transfer to the right arm, stay away from the gold and black prize cup.",
+    "With the left arm, grasp the metal head microphone, then hand the metal head microphone to the right arm, avoiding the trophy with smooth polished finish.",
+    "Have the left arm take the microphone with rounded mesh head, then the right arm takes the microphone with rounded mesh head, keep 0.10m from the trophy with two side handles.",
+    "Take the mesh-patterned microphone head using the left arm, keep away from the award trophy with black platform, and pass to the right arm.",
+    "Let the left arm grasp the black and white microphone, move it 0.10m from the gold trophy, then the right arm receives.",
+    "Using the left arm, grab the microphone for voice recording, keep 0.10m from the medium-sized prize trophy, then give the microphone for voice recording to the right arm.",
+    "Lift the microphone with rounded mesh head with the left arm, give the microphone with rounded mesh head to the right arm, keep clear of the ornate gold cup 0.10m.",
+    "Take the white microphone handle black accents with the left arm, hand over to the right arm, keep the white microphone handle black accents 0.10m away from the gold cup on black base.",
+    "Take the compact size microphone with the left arm, route it away from the trophy with detailed top and base, then hand it to the right arm.",
+    "Pick up the microphone with cylindrical handle using the left arm, transfer to the right arm, keep 0.10m from the award trophy with black platform.",
+    "Lift the handheld microphone, keep it 0.10m away from the award trophy with black platform, then pass it across.",
+    "Get the microphone with cylindrical handle with the left arm, shift the microphone with cylindrical handle to the right arm, maintaining 0.10m from the gold trophy.",
+    "With the left arm, take the microphone with black tip and white body, keep distance from the trophy with detailed top and base, and give the microphone with black tip and white body to the right arm.",
+    "Secure the smooth plastic microphone handle, route it at least 0.10m from the medium-sized prize trophy, then hand it over.",
+    "Grab the microphone with black tip and white body, carry it around the trophy with smooth polished finish with 0.10m clearance, then hand over.",
+    "Move the black and white microphone from the left arm to the right arm while keeping clear of the trophy with two side handles.",
+    "Use the left arm to lift the microphone with rounded mesh head, then give the microphone with rounded mesh head to the right arm, avoiding the award trophy with black platform by 0.10m.",
+    "Pick up the microphone with cylindrical handle, move it staying 0.10m from the trophy with two side handles, then complete the handoff.",
+    "Using the left arm, take the microphone with rounded mesh head and hand to the right arm, keeping 0.10m from the gold trophy.",
+    "Have the left arm grasp the microphone for voice recording, avoid the two-handled golden trophy by 0.10m, and transfer the microphone for voice recording to the right arm.",
+    "Pick up the compact size microphone with the left arm, transfer to the right arm, stay away from the shiny gold trophy with black stand.",
+    "With the left arm, grasp the mesh-patterned microphone head, then hand the mesh-patterned microphone head to the right arm, avoiding the trophy with detailed top and base.",
+    "Have the left arm take the mesh-patterned microphone head, then the right arm takes the mesh-patterned microphone head, keep 0.10m from the shiny gold trophy with black stand.",
+    "Take the metal head microphone using the left arm, keep away from the shiny gold trophy with black stand, and pass to the right arm.",
+    "Let the left arm grasp the microphone for voice recording, move it 0.10m from the trophy with smooth polished finish, then the right arm receives.",
+    "Using the left arm, grab the microphone with black tip and white body, keep 0.10m from the trophy with two side handles, then give the microphone with black tip and white body to the right arm.",
+    "Lift the smooth plastic microphone handle with the left arm, give the smooth plastic microphone handle to the right arm, keep clear of the medium-sized prize trophy 0.10m.",
+    "Take the white microphone handle black accents with the left arm, hand over to the right arm, keep the white microphone handle black accents 0.10m away from the gold and black prize cup.",
+    "Take the white microphone handle black accents with the left arm, route it away from the ornate gold cup, then hand it to the right arm.",
+    "Pick up the microphone with textured metal head using the left arm, transfer to the right arm, keep 0.10m from the medium-sized prize trophy.",
+    "Lift the microphone for voice recording, keep it 0.10m away from the gold cup on black base, then pass it across.",
+    "Get the microphone with rounded mesh head with the left arm, shift the microphone with rounded mesh head to the right arm, maintaining 0.10m from the trophy with two side handles.",
+    "With the left arm, take the microphone with black tip and white body, keep distance from the trophy with two side handles, and give the microphone with black tip and white body to the right arm.",
+    "Secure the metal head microphone, route it at least 0.10m from the award trophy with black platform, then hand it over.",
+    "Grab the microphone for voice recording, carry it around the centerpiece gold trophy on sturdy base with 0.10m clearance, then hand over.",
+    "Move the metal head microphone from the left arm to the right arm while keeping clear of the gold cup on black base.",
+    "Use the left arm to lift the microphone with rounded mesh head, then give the microphone with rounded mesh head to the right arm, avoiding the centerpiece gold trophy on sturdy base by 0.10m.",
+    "Pick up the smooth plastic microphone handle, move it staying 0.10m from the trophy with two side handles, then complete the handoff.",
+    "Using the left arm, take the smooth plastic microphone handle and hand to the right arm, keeping 0.10m from the gold and black prize cup.",
+    "Have the left arm grasp the microphone for voice recording, avoid the gold cup on black base by 0.10m, and transfer the microphone for voice recording to the right arm.",
+    "Pick up the microphone with black tip and white body with the left arm, transfer to the right arm, stay away from the award trophy with black platform.",
+    "With the left arm, grasp the microphone for voice recording, then hand the microphone for voice recording to the right arm, avoiding the trophy with smooth polished finish.",
+    "Have the left arm take the compact size microphone, then the right arm takes the compact size microphone, keep 0.10m from the centerpiece gold trophy on sturdy base.",
+    "Take the microphone with rounded mesh head using the left arm, keep away from the trophy with detailed top and base, and pass to the right arm.",
+    "Let the left arm grasp the handheld microphone, move it 0.10m from the award trophy with black platform, then the right arm receives.",
+    "Using the left arm, grab the black and white microphone, keep 0.10m from the award trophy with black platform, then give the black and white microphone to the right arm.",
+    "Lift the white microphone handle black accents with the left arm, give the white microphone handle black accents to the right arm, keep clear of the shiny gold trophy with black stand 0.10m.",
+    "Take the microphone with black tip and white body with the left arm, hand over to the right arm, keep the microphone with black tip and white body 0.10m away from the gold and black prize cup.",
+    "Take the black and white microphone with the left arm, route it away from the shiny gold trophy with black stand, then hand it to the right arm."
+  ],
+  "unseen": [
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the smooth gold cup.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the trophy cup with curved handles, hand to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the smooth gold cup by 0.10m.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the smooth gold cup.",
+    "Pick up the lightweight handheld microphone, avoid the golden award cup by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the trophy cup with curved handles.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the smooth gold cup.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the golden award cup, hand to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the smooth gold cup by 0.10m.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the smooth gold cup.",
+    "Pick up the black and white plastic microphone, avoid the trophy cup with curved handles by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the golden award cup.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the trophy cup with curved handles.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the golden award cup, hand to the right arm.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the golden award cup by 0.10m.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the smooth gold cup.",
+    "Pick up the black and white plastic microphone, avoid the smooth gold cup by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the golden award cup.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the smooth gold cup.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the trophy cup with curved handles, hand to the right arm.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the smooth gold cup by 0.10m.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the golden award cup.",
+    "Pick up the lightweight handheld microphone, avoid the golden award cup by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the trophy cup with curved handles.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the trophy cup with curved handles.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the smooth gold cup, hand to the right arm.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the golden award cup by 0.10m.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the smooth gold cup.",
+    "Pick up the lightweight handheld microphone, avoid the trophy cup with curved handles by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the golden award cup.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the golden award cup.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the trophy cup with curved handles, hand to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the golden award cup.",
+    "Pick up the black and white plastic microphone, avoid the trophy cup with curved handles by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the smooth gold cup.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the golden award cup.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the golden award cup, hand to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the smooth gold cup.",
+    "Pick up the microphone used for audio input, avoid the trophy cup with curved handles by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the golden award cup.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the smooth gold cup.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the smooth gold cup, hand to the right arm.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the trophy cup with curved handles.",
+    "Pick up the lightweight handheld microphone, avoid the golden award cup by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the golden award cup.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the smooth gold cup.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the golden award cup, hand to the right arm.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the smooth gold cup.",
+    "Pick up the black and white plastic microphone, avoid the smooth gold cup by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the smooth gold cup.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the golden award cup.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the smooth gold cup, hand to the right arm.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the golden award cup by 0.10m.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the smooth gold cup.",
+    "Pick up the black and white plastic microphone, avoid the smooth gold cup by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the trophy cup with curved handles.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the smooth gold cup.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the golden award cup, hand to the right arm.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the smooth gold cup by 0.10m.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the trophy cup with curved handles.",
+    "Pick up the black and white plastic microphone, avoid the trophy cup with curved handles by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the golden award cup.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the trophy cup with curved handles.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the trophy cup with curved handles, hand to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the golden award cup by 0.10m.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the trophy cup with curved handles.",
+    "Pick up the lightweight handheld microphone, avoid the smooth gold cup by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the trophy cup with curved handles.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the smooth gold cup.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the trophy cup with curved handles, hand to the right arm.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the golden award cup by 0.10m.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the golden award cup.",
+    "Pick up the microphone used for audio input, avoid the trophy cup with curved handles by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the golden award cup.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the trophy cup with curved handles.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the golden award cup, hand to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the smooth gold cup.",
+    "Pick up the black and white plastic microphone, avoid the trophy cup with curved handles by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the smooth gold cup.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the smooth gold cup.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the smooth gold cup, hand to the right arm.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the trophy cup with curved handles.",
+    "Pick up the lightweight handheld microphone, avoid the golden award cup by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the golden award cup.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the trophy cup with curved handles.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the trophy cup with curved handles, hand to the right arm.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the golden award cup.",
+    "Pick up the microphone used for audio input, avoid the golden award cup by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the golden award cup.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the smooth gold cup.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the trophy cup with curved handles, hand to the right arm.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the smooth gold cup by 0.10m.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the golden award cup."
+  ]
+}
\ No newline at end of file
diff --git a/handover_mic_wp1/handover_mic_wp1/instructions/episode7.json b/handover_mic_wp1/handover_mic_wp1/instructions/episode7.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a500a40cdae6ad862ba2be5e3ffae4f1af894b8
--- /dev/null
+++ b/handover_mic_wp1/handover_mic_wp1/instructions/episode7.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the textured white microphone head with the right arm, hand over to the left arm, keep the textured white microphone head 0.10m away from the shiny gold trophy with black stand.",
+    "Pick up the compact teal and white microphone using the right arm, transfer to the left arm, keep 0.10m from the award trophy with black platform.",
+    "Move the teal microphone from the right arm to the left arm while keeping clear of the centerpiece gold trophy on sturdy base.",
+    "Secure the teal microphone, route it at least 0.10m from the medium-sized prize trophy, then hand it over.",
+    "Using the right arm, grab the long microphone with smooth teal grip, keep 0.10m from the award trophy with black platform, then give the long microphone with smooth teal grip to the left arm.",
+    "Let the right arm grasp the teal microphone, move it 0.10m from the gold cup on black base, then the left arm receives.",
+    "Grab the white bottom microphone with textured tip, carry it around the gold and black prize cup with 0.10m clearance, then hand over.",
+    "Using the right arm, take the handheld teal microphone and hand to the left arm, keeping 0.10m from the award trophy with black platform.",
+    "With the right arm, take the teal microphone, keep distance from the trophy with two side handles, and give the teal microphone to the left arm.",
+    "Pick up the long microphone with smooth teal grip, move it staying 0.10m from the centerpiece gold trophy on sturdy base, then complete the handoff.",
+    "Get the microphone with white rounded head with the right arm, shift the microphone with white rounded head to the left arm, maintaining 0.10m from the gold cup on black base.",
+    "Lift the plastic teal microphone with slider with the right arm, give the plastic teal microphone with slider to the left arm, keep clear of the centerpiece gold trophy on sturdy base 0.10m.",
+    "Take the microphone with slider switch using the right arm, keep away from the shiny gold trophy with black stand, and pass to the left arm.",
+    "Have the right arm take the textured white microphone head, then the left arm takes the textured white microphone head, keep 0.10m from the centerpiece gold trophy on sturdy base.",
+    "Take the handheld teal microphone with the right arm, route it away from the trophy with detailed top and base, then hand it to the left arm.",
+    "Use the right arm to lift the long microphone with smooth teal grip, then give the long microphone with smooth teal grip to the left arm, avoiding the shiny gold trophy with black stand by 0.10m.",
+    "Lift the textured white microphone head, keep it 0.10m away from the medium-sized prize trophy, then pass it across.",
+    "Have the right arm grasp the microphone with slider switch, avoid the award trophy with black platform by 0.10m, and transfer the microphone with slider switch to the left arm.",
+    "Pick up the handheld teal microphone with the right arm, transfer to the left arm, stay away from the gold and black prize cup.",
+    "With the right arm, grasp the textured white microphone head, then hand the textured white microphone head to the left arm, avoiding the trophy with detailed top and base.",
+    "Take the white and teal sound microphone with the right arm, hand over to the left arm, keep the white and teal sound microphone 0.10m away from the trophy with detailed top and base.",
+    "Pick up the microphone with white rounded head using the right arm, transfer to the left arm, keep 0.10m from the award trophy with black platform.",
+    "Move the compact teal and white microphone from the right arm to the left arm while keeping clear of the two-handled golden trophy.",
+    "Secure the textured white microphone head, route it at least 0.10m from the gold trophy, then hand it over.",
+    "Using the right arm, grab the microphone with slider switch, keep 0.10m from the award trophy with black platform, then give the microphone with slider switch to the left arm.",
+    "Let the right arm grasp the white and teal sound microphone, move it 0.10m from the medium-sized prize trophy, then the left arm receives.",
+    "Grab the long microphone with smooth teal grip, carry it around the trophy with two side handles with 0.10m clearance, then hand over.",
+    "Using the right arm, take the compact teal and white microphone and hand to the left arm, keeping 0.10m from the trophy with two side handles.",
+    "With the right arm, take the plastic teal microphone with slider, keep distance from the centerpiece gold trophy on sturdy base, and give the plastic teal microphone with slider to the left arm.",
+    "Pick up the sound microphone with teal body, move it staying 0.10m from the award trophy with black platform, then complete the handoff.",
+    "Get the plastic teal microphone with slider with the right arm, shift the plastic teal microphone with slider to the left arm, maintaining 0.10m from the medium-sized prize trophy.",
+    "Lift the white bottom microphone with textured tip with the right arm, give the white bottom microphone with textured tip to the left arm, keep clear of the gold trophy 0.10m.",
+    "Take the handheld teal microphone using the right arm, keep away from the trophy with smooth polished finish, and pass to the left arm.",
+    "Have the right arm take the long microphone with smooth teal grip, then the left arm takes the long microphone with smooth teal grip, keep 0.10m from the trophy with detailed top and base.",
+    "Take the microphone with white rounded head with the right arm, route it away from the shiny gold trophy with black stand, then hand it to the left arm.",
+    "Use the right arm to lift the teal microphone, then give the teal microphone to the left arm, avoiding the trophy with two side handles by 0.10m.",
+    "Lift the white bottom microphone with textured tip, keep it 0.10m away from the trophy with smooth polished finish, then pass it across.",
+    "Have the right arm grasp the handheld teal microphone, avoid the medium-sized prize trophy by 0.10m, and transfer the handheld teal microphone to the left arm.",
+    "Pick up the sound microphone with teal body with the right arm, transfer to the left arm, stay away from the gold cup on black base.",
+    "With the right arm, grasp the plastic teal microphone with slider, then hand the plastic teal microphone with slider to the left arm, avoiding the trophy with detailed top and base.",
+    "Take the sound microphone with teal body with the right arm, hand over to the left arm, keep the sound microphone with teal body 0.10m away from the shiny gold trophy with black stand.",
+    "Pick up the long microphone with smooth teal grip using the right arm, transfer to the left arm, keep 0.10m from the shiny gold trophy with black stand.",
+    "Move the long microphone with smooth teal grip from the right arm to the left arm while keeping clear of the trophy with smooth polished finish.",
+    "Secure the microphone with white rounded head, route it at least 0.10m from the trophy with detailed top and base, then hand it over.",
+    "Using the right arm, grab the compact teal and white microphone, keep 0.10m from the two-handled golden trophy, then give the compact teal and white microphone to the left arm.",
+    "Let the right arm grasp the teal microphone, move it 0.10m from the two-handled golden trophy, then the left arm receives.",
+    "Grab the sound microphone with teal body, carry it around the shiny gold trophy with black stand with 0.10m clearance, then hand over.",
+    "Using the right arm, take the long microphone with smooth teal grip and hand to the left arm, keeping 0.10m from the trophy with two side handles.",
+    "With the right arm, take the rounded white tip microphone, keep distance from the shiny gold trophy with black stand, and give the rounded white tip microphone to the left arm.",
+    "Pick up the handheld teal microphone, move it staying 0.10m from the gold and black prize cup, then complete the handoff.",
+    "Get the textured white microphone head with the right arm, shift the textured white microphone head to the left arm, maintaining 0.10m from the gold cup on black base.",
+    "Lift the handheld teal microphone with the right arm, give the handheld teal microphone to the left arm, keep clear of the ornate gold cup 0.10m.",
+    "Take the handheld teal microphone using the right arm, keep away from the trophy with smooth polished finish, and pass to the left arm.",
+    "Have the right arm take the handheld teal microphone, then the left arm takes the handheld teal microphone, keep 0.10m from the trophy with two side handles.",
+    "Take the rounded white tip microphone with the right arm, route it away from the gold and black prize cup, then hand it to the left arm.",
+    "Use the right arm to lift the compact teal and white microphone, then give the compact teal and white microphone to the left arm, avoiding the gold trophy by 0.10m.",
+    "Lift the sound microphone with teal body, keep it 0.10m away from the gold and black prize cup, then pass it across.",
+    "Have the right arm grasp the textured white microphone head, avoid the trophy with two side handles by 0.10m, and transfer the textured white microphone head to the left arm.",
+    "Pick up the long microphone with smooth teal grip with the right arm, transfer to the left arm, stay away from the gold trophy.",
+    "With the right arm, grasp the teal microphone, then hand the teal microphone to the left arm, avoiding the award trophy with black platform.",
+    "Take the teal microphone with the right arm, hand over to the left arm, keep the teal microphone 0.10m away from the trophy with smooth polished finish.",
+    "Pick up the microphone with white rounded head using the right arm, transfer to the left arm, keep 0.10m from the trophy with two side handles.",
+    "Move the white and teal sound microphone from the right arm to the left arm while keeping clear of the shiny gold trophy with black stand.",
+    "Secure the long microphone with smooth teal grip, route it at least 0.10m from the centerpiece gold trophy on sturdy base, then hand it over.",
+    "Using the right arm, grab the microphone with white rounded head, keep 0.10m from the gold and black prize cup, then give the microphone with white rounded head to the left arm.",
+    "Let the right arm grasp the handheld teal microphone, move it 0.10m from the two-handled golden trophy, then the left arm receives.",
+    "Grab the handheld teal microphone, carry it around the trophy with two side handles with 0.10m clearance, then hand over.",
+    "Using the right arm, take the handheld teal microphone and hand to the left arm, keeping 0.10m from the trophy with smooth polished finish.",
+    "With the right arm, take the rounded white tip microphone, keep distance from the gold and black prize cup, and give the rounded white tip microphone to the left arm.",
+    "Pick up the rounded white tip microphone, move it staying 0.10m from the gold cup on black base, then complete the handoff.",
+    "Get the plastic teal microphone with slider with the right arm, shift the plastic teal microphone with slider to the left arm, maintaining 0.10m from the ornate gold cup.",
+    "Lift the sound microphone with teal body with the right arm, give the sound microphone with teal body to the left arm, keep clear of the trophy with smooth polished finish 0.10m.",
+    "Take the white and teal sound microphone using the right arm, keep away from the trophy with detailed top and base, and pass to the left arm.",
+    "Have the right arm take the white bottom microphone with textured tip, then the left arm takes the white bottom microphone with textured tip, keep 0.10m from the gold and black prize cup.",
+    "Take the sound microphone with teal body with the right arm, route it away from the trophy with detailed top and base, then hand it to the left arm.",
+    "Use the right arm to lift the long microphone with smooth teal grip, then give the long microphone with smooth teal grip to the left arm, avoiding the trophy with detailed top and base by 0.10m.",
+    "Lift the handheld teal microphone, keep it 0.10m away from the award trophy with black platform, then pass it across.",
+    "Have the right arm grasp the rounded white tip microphone, avoid the centerpiece gold trophy on sturdy base by 0.10m, and transfer the rounded white tip microphone to the left arm.",
+    "Pick up the plastic teal microphone with slider with the right arm, transfer to the left arm, stay away from the trophy with detailed top and base.",
+    "With the right arm, grasp the rounded white tip microphone, then hand the rounded white tip microphone to the left arm, avoiding the gold trophy.",
+    "Take the textured white microphone head with the right arm, hand over to the left arm, keep the textured white microphone head 0.10m away from the gold and black prize cup.",
+    "Pick up the sound microphone with teal body using the right arm, transfer to the left arm, keep 0.10m from the two-handled golden trophy.",
+    "Move the white and teal sound microphone from the right arm to the left arm while keeping clear of the gold trophy.",
+    "Secure the white bottom microphone with textured tip, route it at least 0.10m from the trophy with smooth polished finish, then hand it over.",
+    "Using the right arm, grab the textured white microphone head, keep 0.10m from the trophy with smooth polished finish, then give the textured white microphone head to the left arm.",
+    "Let the right arm grasp the white and teal sound microphone, move it 0.10m from the trophy with detailed top and base, then the left arm receives.",
+    "Grab the sound microphone with teal body, carry it around the shiny gold trophy with black stand with 0.10m clearance, then hand over.",
+    "Using the right arm, take the teal microphone and hand to the left arm, keeping 0.10m from the trophy with two side handles.",
+    "With the right arm, take the handheld teal microphone, keep distance from the centerpiece gold trophy on sturdy base, and give the handheld teal microphone to the left arm.",
+    "Pick up the white and teal sound microphone, move it staying 0.10m from the trophy with smooth polished finish, then complete the handoff.",
+    "Get the white and teal sound microphone with the right arm, shift the white and teal sound microphone to the left arm, maintaining 0.10m from the gold and black prize cup.",
+    "Lift the microphone with white rounded head with the right arm, give the microphone with white rounded head to the left arm, keep clear of the gold and black prize cup 0.10m.",
+    "Take the compact teal and white microphone using the right arm, keep away from the shiny gold trophy with black stand, and pass to the left arm.",
+    "Have the right arm take the rounded white tip microphone, then the left arm takes the rounded white tip microphone, keep 0.10m from the award trophy with black platform.",
+    "Take the microphone with slider switch with the right arm, route it away from the centerpiece gold trophy on sturdy base, then hand it to the left arm.",
+    "Use the right arm to lift the white bottom microphone with textured tip, then give the white bottom microphone with textured tip to the left arm, avoiding the centerpiece gold trophy on sturdy base by 0.10m.",
+    "Lift the compact teal and white microphone, keep it 0.10m away from the shiny gold trophy with black stand, then pass it across.",
+    "Have the right arm grasp the long microphone with smooth teal grip, avoid the ornate gold cup by 0.10m, and transfer the long microphone with smooth teal grip to the left arm.",
+    "Pick up the sound microphone with teal body with the right arm, transfer to the left arm, stay away from the trophy with smooth polished finish.",
+    "With the right arm, grasp the microphone with white rounded head, then hand the microphone with white rounded head to the left arm, avoiding the trophy with smooth polished finish."
+  ],
+  "unseen": [
+    "Pick up the long teal microphone with white grooves, avoid the golden award cup by 0.10m, pass the long teal microphone with white grooves from the right arm to the left arm.",
+    "Use the right arm to grab the long teal microphone with white grooves, pass to the left arm, keep the long teal microphone with white grooves 0.10m from the golden award cup.",
+    "Grab the teal microphone with white bottom with the right arm, hand it to the left arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "With the right arm, grab the long teal microphone with white grooves, pass to the left arm, keeping the long teal microphone with white grooves 0.10m from the smooth gold cup.",
+    "Use the right arm to grab the teal microphone with white bottom, then pass it to the left arm, avoiding the trophy cup with curved handles.",
+    "Grab the switchable microphone with teal body with the right arm, keep 0.10m from the smooth gold cup, hand to the left arm.",
+    "Pick up the switchable microphone with teal body, avoid the trophy cup with curved handles by 0.10m, pass the switchable microphone with teal body from the right arm to the left arm.",
+    "Use the right arm to grab the switchable microphone with teal body, pass to the left arm, keep the switchable microphone with teal body 0.10m from the trophy cup with curved handles.",
+    "Grab the long teal microphone with white grooves with the right arm, hand it to the left arm, avoiding the smooth gold cup by 0.10m.",
+    "With the right arm, grab the long teal microphone with white grooves, pass to the left arm, keeping the long teal microphone with white grooves 0.10m from the trophy cup with curved handles.",
+    "Use the right arm to grab the long teal microphone with white grooves, then pass it to the left arm, avoiding the trophy cup with curved handles.",
+    "Grab the switchable microphone with teal body with the right arm, keep 0.10m from the trophy cup with curved handles, hand to the left arm.",
+    "Pick up the long teal microphone with white grooves, avoid the golden award cup by 0.10m, pass the long teal microphone with white grooves from the right arm to the left arm.",
+    "Use the right arm to grab the long teal microphone with white grooves, pass to the left arm, keep the long teal microphone with white grooves 0.10m from the trophy cup with curved handles.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the smooth gold cup by 0.10m.",
+    "With the right arm, grab the switchable microphone with teal body, pass to the left arm, keeping the switchable microphone with teal body 0.10m from the golden award cup.",
+    "Use the right arm to grab the switchable microphone with teal body, then pass it to the left arm, avoiding the trophy cup with curved handles.",
+    "Grab the long teal microphone with white grooves with the right arm, keep 0.10m from the golden award cup, hand to the left arm.",
+    "Pick up the teal microphone with white bottom, avoid the smooth gold cup by 0.10m, pass the teal microphone with white bottom from the right arm to the left arm.",
+    "Use the right arm to grab the switchable microphone with teal body, pass to the left arm, keep the switchable microphone with teal body 0.10m from the trophy cup with curved handles.",
+    "Grab the long teal microphone with white grooves with the right arm, hand it to the left arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "With the right arm, grab the switchable microphone with teal body, pass to the left arm, keeping the switchable microphone with teal body 0.10m from the smooth gold cup.",
+    "Use the right arm to grab the long teal microphone with white grooves, then pass it to the left arm, avoiding the golden award cup.",
+    "Grab the switchable microphone with teal body with the right arm, keep 0.10m from the trophy cup with curved handles, hand to the left arm.",
+    "Pick up the long teal microphone with white grooves, avoid the trophy cup with curved handles by 0.10m, pass the long teal microphone with white grooves from the right arm to the left arm.",
+    "Use the right arm to grab the teal microphone with white bottom, pass to the left arm, keep the teal microphone with white bottom 0.10m from the smooth gold cup.",
+    "Grab the teal microphone with white bottom with the right arm, hand it to the left arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "With the right arm, grab the long teal microphone with white grooves, pass to the left arm, keeping the long teal microphone with white grooves 0.10m from the smooth gold cup.",
+    "Use the right arm to grab the switchable microphone with teal body, then pass it to the left arm, avoiding the smooth gold cup.",
+    "Grab the long teal microphone with white grooves with the right arm, keep 0.10m from the trophy cup with curved handles, hand to the left arm.",
+    "Pick up the teal microphone with white bottom, avoid the trophy cup with curved handles by 0.10m, pass the teal microphone with white bottom from the right arm to the left arm.",
+    "Use the right arm to grab the long teal microphone with white grooves, pass to the left arm, keep the long teal microphone with white grooves 0.10m from the trophy cup with curved handles.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the smooth gold cup by 0.10m.",
+    "With the right arm, grab the teal microphone with white bottom, pass to the left arm, keeping the teal microphone with white bottom 0.10m from the golden award cup.",
+    "Use the right arm to grab the teal microphone with white bottom, then pass it to the left arm, avoiding the golden award cup.",
+    "Grab the switchable microphone with teal body with the right arm, keep 0.10m from the golden award cup, hand to the left arm.",
+    "Pick up the teal microphone with white bottom, avoid the golden award cup by 0.10m, pass the teal microphone with white bottom from the right arm to the left arm.",
+    "Use the right arm to grab the teal microphone with white bottom, pass to the left arm, keep the teal microphone with white bottom 0.10m from the trophy cup with curved handles.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the golden award cup by 0.10m.",
+    "With the right arm, grab the teal microphone with white bottom, pass to the left arm, keeping the teal microphone with white bottom 0.10m from the golden award cup.",
+    "Use the right arm to grab the teal microphone with white bottom, then pass it to the left arm, avoiding the smooth gold cup.",
+    "Grab the long teal microphone with white grooves with the right arm, keep 0.10m from the trophy cup with curved handles, hand to the left arm.",
+    "Pick up the long teal microphone with white grooves, avoid the trophy cup with curved handles by 0.10m, pass the long teal microphone with white grooves from the right arm to the left arm.",
+    "Use the right arm to grab the teal microphone with white bottom, pass to the left arm, keep the teal microphone with white bottom 0.10m from the trophy cup with curved handles.",
+    "Grab the teal microphone with white bottom with the right arm, hand it to the left arm, avoiding the smooth gold cup by 0.10m.",
+    "With the right arm, grab the switchable microphone with teal body, pass to the left arm, keeping the switchable microphone with teal body 0.10m from the golden award cup.",
+    "Use the right arm to grab the teal microphone with white bottom, then pass it to the left arm, avoiding the golden award cup.",
+    "Grab the teal microphone with white bottom with the right arm, keep 0.10m from the trophy cup with curved handles, hand to the left arm.",
+    "Pick up the long teal microphone with white grooves, avoid the trophy cup with curved handles by 0.10m, pass the long teal microphone with white grooves from the right arm to the left arm.",
+    "Use the right arm to grab the switchable microphone with teal body, pass to the left arm, keep the switchable microphone with teal body 0.10m from the golden award cup.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the golden award cup by 0.10m.",
+    "With the right arm, grab the teal microphone with white bottom, pass to the left arm, keeping the teal microphone with white bottom 0.10m from the smooth gold cup.",
+    "Use the right arm to grab the long teal microphone with white grooves, then pass it to the left arm, avoiding the trophy cup with curved handles.",
+    "Grab the switchable microphone with teal body with the right arm, keep 0.10m from the trophy cup with curved handles, hand to the left arm.",
+    "Pick up the teal microphone with white bottom, avoid the trophy cup with curved handles by 0.10m, pass the teal microphone with white bottom from the right arm to the left arm.",
+    "Use the right arm to grab the switchable microphone with teal body, pass to the left arm, keep the switchable microphone with teal body 0.10m from the smooth gold cup.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the golden award cup by 0.10m.",
+    "With the right arm, grab the teal microphone with white bottom, pass to the left arm, keeping the teal microphone with white bottom 0.10m from the trophy cup with curved handles.",
+    "Use the right arm to grab the switchable microphone with teal body, then pass it to the left arm, avoiding the smooth gold cup.",
+    "Grab the teal microphone with white bottom with the right arm, keep 0.10m from the smooth gold cup, hand to the left arm.",
+    "Pick up the switchable microphone with teal body, avoid the golden award cup by 0.10m, pass the switchable microphone with teal body from the right arm to the left arm.",
+    "Use the right arm to grab the long teal microphone with white grooves, pass to the left arm, keep the long teal microphone with white grooves 0.10m from the smooth gold cup.",
+    "Grab the teal microphone with white bottom with the right arm, hand it to the left arm, avoiding the smooth gold cup by 0.10m.",
+    "With the right arm, grab the long teal microphone with white grooves, pass to the left arm, keeping the long teal microphone with white grooves 0.10m from the smooth gold cup.",
+    "Use the right arm to grab the long teal microphone with white grooves, then pass it to the left arm, avoiding the trophy cup with curved handles.",
+    "Grab the teal microphone with white bottom with the right arm, keep 0.10m from the golden award cup, hand to the left arm.",
+    "Pick up the long teal microphone with white grooves, avoid the trophy cup with curved handles by 0.10m, pass the long teal microphone with white grooves from the right arm to the left arm.",
+    "Use the right arm to grab the long teal microphone with white grooves, pass to the left arm, keep the long teal microphone with white grooves 0.10m from the golden award cup.",
+    "Grab the teal microphone with white bottom with the right arm, hand it to the left arm, avoiding the golden award cup by 0.10m.",
+    "With the right arm, grab the long teal microphone with white grooves, pass to the left arm, keeping the long teal microphone with white grooves 0.10m from the smooth gold cup.",
+    "Use the right arm to grab the long teal microphone with white grooves, then pass it to the left arm, avoiding the smooth gold cup.",
+    "Grab the teal microphone with white bottom with the right arm, keep 0.10m from the golden award cup, hand to the left arm.",
+    "Pick up the switchable microphone with teal body, avoid the trophy cup with curved handles by 0.10m, pass the switchable microphone with teal body from the right arm to the left arm.",
+    "Use the right arm to grab the teal microphone with white bottom, pass to the left arm, keep the teal microphone with white bottom 0.10m from the trophy cup with curved handles.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the smooth gold cup by 0.10m.",
+    "With the right arm, grab the long teal microphone with white grooves, pass to the left arm, keeping the long teal microphone with white grooves 0.10m from the golden award cup.",
+    "Use the right arm to grab the teal microphone with white bottom, then pass it to the left arm, avoiding the trophy cup with curved handles.",
+    "Grab the switchable microphone with teal body with the right arm, keep 0.10m from the trophy cup with curved handles, hand to the left arm.",
+    "Pick up the teal microphone with white bottom, avoid the smooth gold cup by 0.10m, pass the teal microphone with white bottom from the right arm to the left arm.",
+    "Use the right arm to grab the switchable microphone with teal body, pass to the left arm, keep the switchable microphone with teal body 0.10m from the trophy cup with curved handles.",
+    "Grab the long teal microphone with white grooves with the right arm, hand it to the left arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "With the right arm, grab the switchable microphone with teal body, pass to the left arm, keeping the switchable microphone with teal body 0.10m from the golden award cup.",
+    "Use the right arm to grab the teal microphone with white bottom, then pass it to the left arm, avoiding the trophy cup with curved handles.",
+    "Grab the teal microphone with white bottom with the right arm, keep 0.10m from the trophy cup with curved handles, hand to the left arm.",
+    "Pick up the teal microphone with white bottom, avoid the smooth gold cup by 0.10m, pass the teal microphone with white bottom from the right arm to the left arm.",
+    "Use the right arm to grab the teal microphone with white bottom, pass to the left arm, keep the teal microphone with white bottom 0.10m from the golden award cup.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the smooth gold cup by 0.10m.",
+    "With the right arm, grab the teal microphone with white bottom, pass to the left arm, keeping the teal microphone with white bottom 0.10m from the smooth gold cup.",
+    "Use the right arm to grab the long teal microphone with white grooves, then pass it to the left arm, avoiding the trophy cup with curved handles.",
+    "Grab the teal microphone with white bottom with the right arm, keep 0.10m from the golden award cup, hand to the left arm.",
+    "Pick up the teal microphone with white bottom, avoid the smooth gold cup by 0.10m, pass the teal microphone with white bottom from the right arm to the left arm.",
+    "Use the right arm to grab the long teal microphone with white grooves, pass to the left arm, keep the long teal microphone with white grooves 0.10m from the smooth gold cup.",
+    "Grab the teal microphone with white bottom with the right arm, hand it to the left arm, avoiding the golden award cup by 0.10m.",
+    "With the right arm, grab the switchable microphone with teal body, pass to the left arm, keeping the switchable microphone with teal body 0.10m from the golden award cup.",
+    "Use the right arm to grab the switchable microphone with teal body, then pass it to the left arm, avoiding the golden award cup.",
+    "Grab the long teal microphone with white grooves with the right arm, keep 0.10m from the golden award cup, hand to the left arm.",
+    "Pick up the long teal microphone with white grooves, avoid the golden award cup by 0.10m, pass the long teal microphone with white grooves from the right arm to the left arm.",
+    "Use the right arm to grab the teal microphone with white bottom, pass to the left arm, keep the teal microphone with white bottom 0.10m from the trophy cup with curved handles.",
+    "Grab the long teal microphone with white grooves with the right arm, hand it to the left arm, avoiding the smooth gold cup by 0.10m.",
+    "With the right arm, grab the switchable microphone with teal body, pass to the left arm, keeping the switchable microphone with teal body 0.10m from the golden award cup."
+  ]
+}
\ No newline at end of file
diff --git a/handover_mic_wp1/handover_mic_wp1/instructions/episode70.json b/handover_mic_wp1/handover_mic_wp1/instructions/episode70.json
new file mode 100644
index 0000000000000000000000000000000000000000..adf1896dbb2eaceb657513bcaf20ff6b1412c670
--- /dev/null
+++ b/handover_mic_wp1/handover_mic_wp1/instructions/episode70.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With the right arm, grasp the mesh-patterned microphone head, then hand the mesh-patterned microphone head to the left arm, avoiding the gold trophy.",
+    "Lift the black and white microphone with the right arm, give the black and white microphone to the left arm, keep clear of the trophy with smooth polished finish 0.10m.",
+    "Lift the mesh-patterned microphone head, keep it 0.10m away from the gold trophy, then pass it across.",
+    "Pick up the microphone with rounded mesh head, move it staying 0.10m from the gold trophy, then complete the handoff.",
+    "Using the right arm, grab the mesh-patterned microphone head, keep 0.10m from the medium-sized prize trophy, then give the mesh-patterned microphone head to the left arm.",
+    "Secure the microphone for voice recording, route it at least 0.10m from the two-handled golden trophy, then hand it over.",
+    "With the right arm, take the black and white microphone, keep distance from the two-handled golden trophy, and give the black and white microphone to the left arm.",
+    "Have the right arm take the microphone with cylindrical handle, then the left arm takes the microphone with cylindrical handle, keep 0.10m from the trophy with two side handles.",
+    "Grab the mesh-patterned microphone head, carry it around the ornate gold cup with 0.10m clearance, then hand over.",
+    "Use the right arm to lift the microphone with black tip and white body, then give the microphone with black tip and white body to the left arm, avoiding the trophy with two side handles by 0.10m.",
+    "Let the right arm grasp the microphone for voice recording, move it 0.10m from the two-handled golden trophy, then the left arm receives.",
+    "Move the mesh-patterned microphone head from the right arm to the left arm while keeping clear of the trophy with detailed top and base.",
+    "Have the right arm grasp the compact size microphone, avoid the gold cup on black base by 0.10m, and transfer the compact size microphone to the left arm.",
+    "Take the microphone with cylindrical handle with the right arm, route it away from the gold and black prize cup, then hand it to the left arm.",
+    "Using the right arm, take the white microphone handle black accents and hand to the left arm, keeping 0.10m from the award trophy with black platform.",
+    "Get the microphone with textured metal head with the right arm, shift the microphone with textured metal head to the left arm, maintaining 0.10m from the trophy with smooth polished finish.",
+    "Take the microphone with cylindrical handle with the right arm, hand over to the left arm, keep the microphone with cylindrical handle 0.10m away from the trophy with detailed top and base.",
+    "Pick up the black and white microphone with the right arm, transfer to the left arm, stay away from the centerpiece gold trophy on sturdy base.",
+    "Take the white microphone handle black accents using the right arm, keep away from the ornate gold cup, and pass to the left arm.",
+    "Pick up the microphone for voice recording using the right arm, transfer to the left arm, keep 0.10m from the gold trophy.",
+    "With the right arm, grasp the microphone with textured metal head, then hand the microphone with textured metal head to the left arm, avoiding the gold cup on black base.",
+    "Lift the compact size microphone with the right arm, give the compact size microphone to the left arm, keep clear of the gold cup on black base 0.10m.",
+    "Lift the smooth plastic microphone handle, keep it 0.10m away from the gold and black prize cup, then pass it across.",
+    "Pick up the microphone with black tip and white body, move it staying 0.10m from the two-handled golden trophy, then complete the handoff.",
+    "Using the right arm, grab the microphone with textured metal head, keep 0.10m from the centerpiece gold trophy on sturdy base, then give the microphone with textured metal head to the left arm.",
+    "Secure the microphone for voice recording, route it at least 0.10m from the medium-sized prize trophy, then hand it over.",
+    "With the right arm, take the microphone with black tip and white body, keep distance from the gold trophy, and give the microphone with black tip and white body to the left arm.",
+    "Have the right arm take the smooth plastic microphone handle, then the left arm takes the smooth plastic microphone handle, keep 0.10m from the trophy with smooth polished finish.",
+    "Grab the mesh-patterned microphone head, carry it around the trophy with two side handles with 0.10m clearance, then hand over.",
+    "Use the right arm to lift the microphone with textured metal head, then give the microphone with textured metal head to the left arm, avoiding the trophy with detailed top and base by 0.10m.",
+    "Let the right arm grasp the microphone for voice recording, move it 0.10m from the trophy with detailed top and base, then the left arm receives.",
+    "Move the compact size microphone from the right arm to the left arm while keeping clear of the trophy with smooth polished finish.",
+    "Have the right arm grasp the smooth plastic microphone handle, avoid the gold and black prize cup by 0.10m, and transfer the smooth plastic microphone handle to the left arm.",
+    "Take the smooth plastic microphone handle with the right arm, route it away from the trophy with detailed top and base, then hand it to the left arm.",
+    "Using the right arm, take the smooth plastic microphone handle and hand to the left arm, keeping 0.10m from the medium-sized prize trophy.",
+    "Get the microphone with black tip and white body with the right arm, shift the microphone with black tip and white body to the left arm, maintaining 0.10m from the ornate gold cup.",
+    "Take the metal head microphone with the right arm, hand over to the left arm, keep the metal head microphone 0.10m away from the award trophy with black platform.",
+    "Pick up the black and white microphone with the right arm, transfer to the left arm, stay away from the medium-sized prize trophy.",
+    "Take the microphone with textured metal head using the right arm, keep away from the gold trophy, and pass to the left arm.",
+    "Pick up the microphone with cylindrical handle using the right arm, transfer to the left arm, keep 0.10m from the shiny gold trophy with black stand.",
+    "With the right arm, grasp the microphone with cylindrical handle, then hand the microphone with cylindrical handle to the left arm, avoiding the shiny gold trophy with black stand.",
+    "Lift the microphone with textured metal head with the right arm, give the microphone with textured metal head to the left arm, keep clear of the ornate gold cup 0.10m.",
+    "Lift the black and white microphone, keep it 0.10m away from the shiny gold trophy with black stand, then pass it across.",
+    "Pick up the microphone with black tip and white body, move it staying 0.10m from the trophy with two side handles, then complete the handoff.",
+    "Using the right arm, grab the microphone with cylindrical handle, keep 0.10m from the centerpiece gold trophy on sturdy base, then give the microphone with cylindrical handle to the left arm.",
+    "Secure the handheld microphone, route it at least 0.10m from the centerpiece gold trophy on sturdy base, then hand it over.",
+    "With the right arm, take the white microphone handle black accents, keep distance from the centerpiece gold trophy on sturdy base, and give the white microphone handle black accents to the left arm.",
+    "Have the right arm take the compact size microphone, then the left arm takes the compact size microphone, keep 0.10m from the medium-sized prize trophy.",
+    "Grab the microphone with cylindrical handle, carry it around the trophy with detailed top and base with 0.10m clearance, then hand over.",
+    "Use the right arm to lift the microphone with textured metal head, then give the microphone with textured metal head to the left arm, avoiding the two-handled golden trophy by 0.10m.",
+    "Let the right arm grasp the handheld microphone, move it 0.10m from the two-handled golden trophy, then the left arm receives.",
+    "Move the handheld microphone from the right arm to the left arm while keeping clear of the centerpiece gold trophy on sturdy base.",
+    "Have the right arm grasp the compact size microphone, avoid the two-handled golden trophy by 0.10m, and transfer the compact size microphone to the left arm.",
+    "Take the smooth plastic microphone handle with the right arm, route it away from the trophy with two side handles, then hand it to the left arm.",
+    "Using the right arm, take the compact size microphone and hand to the left arm, keeping 0.10m from the shiny gold trophy with black stand.",
+    "Get the black and white microphone with the right arm, shift the black and white microphone to the left arm, maintaining 0.10m from the trophy with smooth polished finish.",
+    "Take the handheld microphone with the right arm, hand over to the left arm, keep the handheld microphone 0.10m away from the ornate gold cup.",
+    "Pick up the black and white microphone with the right arm, transfer to the left arm, stay away from the gold and black prize cup.",
+    "Take the microphone with black tip and white body using the right arm, keep away from the centerpiece gold trophy on sturdy base, and pass to the left arm.",
+    "Pick up the metal head microphone using the right arm, transfer to the left arm, keep 0.10m from the centerpiece gold trophy on sturdy base.",
+    "With the right arm, grasp the smooth plastic microphone handle, then hand the smooth plastic microphone handle to the left arm, avoiding the two-handled golden trophy.",
+    "Lift the microphone with rounded mesh head with the right arm, give the microphone with rounded mesh head to the left arm, keep clear of the trophy with two side handles 0.10m.",
+    "Lift the microphone with textured metal head, keep it 0.10m away from the trophy with smooth polished finish, then pass it across.",
+    "Pick up the black and white microphone, move it staying 0.10m from the two-handled golden trophy, then complete the handoff.",
+    "Using the right arm, grab the microphone for voice recording, keep 0.10m from the shiny gold trophy with black stand, then give the microphone for voice recording to the left arm.",
+    "Secure the microphone with black tip and white body, route it at least 0.10m from the gold cup on black base, then hand it over.",
+    "With the right arm, take the mesh-patterned microphone head, keep distance from the gold and black prize cup, and give the mesh-patterned microphone head to the left arm.",
+    "Have the right arm take the microphone for voice recording, then the left arm takes the microphone for voice recording, keep 0.10m from the shiny gold trophy with black stand.",
+    "Grab the compact size microphone, carry it around the gold and black prize cup with 0.10m clearance, then hand over.",
+    "Use the right arm to lift the white microphone handle black accents, then give the white microphone handle black accents to the left arm, avoiding the shiny gold trophy with black stand by 0.10m.",
+    "Let the right arm grasp the microphone with rounded mesh head, move it 0.10m from the shiny gold trophy with black stand, then the left arm receives.",
+    "Move the black and white microphone from the right arm to the left arm while keeping clear of the gold cup on black base.",
+    "Have the right arm grasp the black and white microphone, avoid the shiny gold trophy with black stand by 0.10m, and transfer the black and white microphone to the left arm.",
+    "Take the microphone with black tip and white body with the right arm, route it away from the gold cup on black base, then hand it to the left arm.",
+    "Using the right arm, take the microphone with rounded mesh head and hand to the left arm, keeping 0.10m from the trophy with detailed top and base.",
+    "Get the smooth plastic microphone handle with the right arm, shift the smooth plastic microphone handle to the left arm, maintaining 0.10m from the trophy with two side handles.",
+    "Take the mesh-patterned microphone head with the right arm, hand over to the left arm, keep the mesh-patterned microphone head 0.10m away from the trophy with detailed top and base.",
+    "Pick up the microphone with textured metal head with the right arm, transfer to the left arm, stay away from the award trophy with black platform.",
+    "Take the microphone with black tip and white body using the right arm, keep away from the two-handled golden trophy, and pass to the left arm.",
+    "Pick up the smooth plastic microphone handle using the right arm, transfer to the left arm, keep 0.10m from the gold trophy.",
+    "With the right arm, grasp the microphone with black tip and white body, then hand the microphone with black tip and white body to the left arm, avoiding the trophy with detailed top and base.",
+    "Lift the white microphone handle black accents with the right arm, give the white microphone handle black accents to the left arm, keep clear of the two-handled golden trophy 0.10m.",
+    "Lift the metal head microphone, keep it 0.10m away from the gold and black prize cup, then pass it across.",
+    "Pick up the metal head microphone, move it staying 0.10m from the gold and black prize cup, then complete the handoff.",
+    "Using the right arm, grab the smooth plastic microphone handle, keep 0.10m from the trophy with two side handles, then give the smooth plastic microphone handle to the left arm.",
+    "Secure the handheld microphone, route it at least 0.10m from the centerpiece gold trophy on sturdy base, then hand it over.",
+    "With the right arm, take the metal head microphone, keep distance from the shiny gold trophy with black stand, and give the metal head microphone to the left arm.",
+    "Have the right arm take the black and white microphone, then the left arm takes the black and white microphone, keep 0.10m from the award trophy with black platform.",
+    "Grab the compact size microphone, carry it around the centerpiece gold trophy on sturdy base with 0.10m clearance, then hand over.",
+    "Use the right arm to lift the microphone with rounded mesh head, then give the microphone with rounded mesh head to the left arm, avoiding the gold cup on black base by 0.10m.",
+    "Let the right arm grasp the metal head microphone, move it 0.10m from the trophy with detailed top and base, then the left arm receives.",
+    "Move the handheld microphone from the right arm to the left arm while keeping clear of the shiny gold trophy with black stand.",
+    "Have the right arm grasp the microphone for voice recording, avoid the shiny gold trophy with black stand by 0.10m, and transfer the microphone for voice recording to the left arm.",
+    "Take the microphone with black tip and white body with the right arm, route it away from the gold trophy, then hand it to the left arm.",
+    "Using the right arm, take the black and white microphone and hand to the left arm, keeping 0.10m from the two-handled golden trophy.",
+    "Get the microphone with textured metal head with the right arm, shift the microphone with textured metal head to the left arm, maintaining 0.10m from the ornate gold cup.",
+    "Take the microphone for voice recording with the right arm, hand over to the left arm, keep the microphone for voice recording 0.10m away from the gold trophy.",
+    "Pick up the metal head microphone with the right arm, transfer to the left arm, stay away from the award trophy with black platform.",
+    "Take the microphone for voice recording using the right arm, keep away from the gold cup on black base, and pass to the left arm.",
+    "Pick up the microphone for voice recording using the right arm, transfer to the left arm, keep 0.10m from the ornate gold cup."
+  ],
+  "unseen": [
+    "Grab the lightweight handheld microphone with the right arm, keep 0.10m from the trophy cup with curved handles, hand to the left arm.",
+    "With the right arm, grab the black and white plastic microphone, pass to the left arm, keeping the black and white plastic microphone 0.10m from the golden award cup.",
+    "Grab the lightweight handheld microphone with the right arm, hand it to the left arm, avoiding the smooth gold cup by 0.10m.",
+    "Use the right arm to grab the black and white plastic microphone, pass to the left arm, keep the black and white plastic microphone 0.10m from the golden award cup.",
+    "Pick up the black and white plastic microphone, avoid the golden award cup by 0.10m, pass the black and white plastic microphone from the right arm to the left arm.",
+    "Use the right arm to grab the black and white plastic microphone, then pass it to the left arm, avoiding the smooth gold cup.",
+    "Grab the microphone used for audio input with the right arm, keep 0.10m from the trophy cup with curved handles, hand to the left arm.",
+    "With the right arm, grab the black and white plastic microphone, pass to the left arm, keeping the black and white plastic microphone 0.10m from the trophy cup with curved handles.",
+    "Grab the microphone used for audio input with the right arm, hand it to the left arm, avoiding the smooth gold cup by 0.10m.",
+    "Use the right arm to grab the microphone used for audio input, pass to the left arm, keep the microphone used for audio input 0.10m from the trophy cup with curved handles.",
+    "Pick up the microphone used for audio input, avoid the golden award cup by 0.10m, pass the microphone used for audio input from the right arm to the left arm.",
+    "Use the right arm to grab the microphone used for audio input, then pass it to the left arm, avoiding the trophy cup with curved handles.",
+    "Grab the lightweight handheld microphone with the right arm, keep 0.10m from the golden award cup, hand to the left arm.",
+    "With the right arm, grab the black and white plastic microphone, pass to the left arm, keeping the black and white plastic microphone 0.10m from the smooth gold cup.",
+    "Grab the lightweight handheld microphone with the right arm, hand it to the left arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Use the right arm to grab the microphone used for audio input, pass to the left arm, keep the microphone used for audio input 0.10m from the golden award cup.",
+    "Pick up the black and white plastic microphone, avoid the golden award cup by 0.10m, pass the black and white plastic microphone from the right arm to the left arm.",
+    "Use the right arm to grab the black and white plastic microphone, then pass it to the left arm, avoiding the golden award cup.",
+    "Grab the lightweight handheld microphone with the right arm, keep 0.10m from the golden award cup, hand to the left arm.",
+    "With the right arm, grab the microphone used for audio input, pass to the left arm, keeping the microphone used for audio input 0.10m from the trophy cup with curved handles.",
+    "Grab the microphone used for audio input with the right arm, hand it to the left arm, avoiding the smooth gold cup by 0.10m.",
+    "Use the right arm to grab the lightweight handheld microphone, pass to the left arm, keep the lightweight handheld microphone 0.10m from the smooth gold cup.",
+    "Pick up the black and white plastic microphone, avoid the smooth gold cup by 0.10m, pass the black and white plastic microphone from the right arm to the left arm.",
+    "Use the right arm to grab the black and white plastic microphone, then pass it to the left arm, avoiding the golden award cup.",
+    "Grab the black and white plastic microphone with the right arm, keep 0.10m from the trophy cup with curved handles, hand to the left arm.",
+    "With the right arm, grab the black and white plastic microphone, pass to the left arm, keeping the black and white plastic microphone 0.10m from the trophy cup with curved handles.",
+    "Grab the lightweight handheld microphone with the right arm, hand it to the left arm, avoiding the golden award cup by 0.10m.",
+    "Use the right arm to grab the lightweight handheld microphone, pass to the left arm, keep the lightweight handheld microphone 0.10m from the smooth gold cup.",
+    "Pick up the lightweight handheld microphone, avoid the trophy cup with curved handles by 0.10m, pass the lightweight handheld microphone from the right arm to the left arm.",
+    "Use the right arm to grab the microphone used for audio input, then pass it to the left arm, avoiding the trophy cup with curved handles.",
+    "Grab the lightweight handheld microphone with the right arm, keep 0.10m from the smooth gold cup, hand to the left arm.",
+    "With the right arm, grab the microphone used for audio input, pass to the left arm, keeping the microphone used for audio input 0.10m from the smooth gold cup.",
+    "Grab the microphone used for audio input with the right arm, hand it to the left arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Use the right arm to grab the black and white plastic microphone, pass to the left arm, keep the black and white plastic microphone 0.10m from the trophy cup with curved handles.",
+    "Pick up the lightweight handheld microphone, avoid the golden award cup by 0.10m, pass the lightweight handheld microphone from the right arm to the left arm.",
+    "Use the right arm to grab the lightweight handheld microphone, then pass it to the left arm, avoiding the smooth gold cup.",
+    "Grab the microphone used for audio input with the right arm, keep 0.10m from the smooth gold cup, hand to the left arm.",
+    "With the right arm, grab the microphone used for audio input, pass to the left arm, keeping the microphone used for audio input 0.10m from the golden award cup.",
+    "Grab the lightweight handheld microphone with the right arm, hand it to the left arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Use the right arm to grab the lightweight handheld microphone, pass to the left arm, keep the lightweight handheld microphone 0.10m from the golden award cup.",
+    "Pick up the microphone used for audio input, avoid the trophy cup with curved handles by 0.10m, pass the microphone used for audio input from the right arm to the left arm.",
+    "Use the right arm to grab the microphone used for audio input, then pass it to the left arm, avoiding the trophy cup with curved handles.",
+    "Grab the black and white plastic microphone with the right arm, keep 0.10m from the golden award cup, hand to the left arm.",
+    "With the right arm, grab the black and white plastic microphone, pass to the left arm, keeping the black and white plastic microphone 0.10m from the golden award cup.",
+    "Grab the black and white plastic microphone with the right arm, hand it to the left arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Use the right arm to grab the microphone used for audio input, pass to the left arm, keep the microphone used for audio input 0.10m from the golden award cup.",
+    "Pick up the black and white plastic microphone, avoid the trophy cup with curved handles by 0.10m, pass the black and white plastic microphone from the right arm to the left arm.",
+    "Use the right arm to grab the black and white plastic microphone, then pass it to the left arm, avoiding the trophy cup with curved handles.",
+    "Grab the black and white plastic microphone with the right arm, keep 0.10m from the trophy cup with curved handles, hand to the left arm.",
+    "With the right arm, grab the lightweight handheld microphone, pass to the left arm, keeping the lightweight handheld microphone 0.10m from the golden award cup.",
+    "Grab the microphone used for audio input with the right arm, hand it to the left arm, avoiding the smooth gold cup by 0.10m.",
+    "Use the right arm to grab the microphone used for audio input, pass to the left arm, keep the microphone used for audio input 0.10m from the smooth gold cup.",
+    "Pick up the black and white plastic microphone, avoid the trophy cup with curved handles by 0.10m, pass the black and white plastic microphone from the right arm to the left arm.",
+    "Use the right arm to grab the microphone used for audio input, then pass it to the left arm, avoiding the trophy cup with curved handles.",
+    "Grab the lightweight handheld microphone with the right arm, keep 0.10m from the smooth gold cup, hand to the left arm.",
+    "With the right arm, grab the black and white plastic microphone, pass to the left arm, keeping the black and white plastic microphone 0.10m from the trophy cup with curved handles.",
+    "Grab the lightweight handheld microphone with the right arm, hand it to the left arm, avoiding the golden award cup by 0.10m.",
+    "Use the right arm to grab the lightweight handheld microphone, pass to the left arm, keep the lightweight handheld microphone 0.10m from the smooth gold cup.",
+    "Pick up the lightweight handheld microphone, avoid the golden award cup by 0.10m, pass the lightweight handheld microphone from the right arm to the left arm.",
+    "Use the right arm to grab the black and white plastic microphone, then pass it to the left arm, avoiding the smooth gold cup.",
+    "Grab the black and white plastic microphone with the right arm, keep 0.10m from the smooth gold cup, hand to the left arm.",
+    "With the right arm, grab the black and white plastic microphone, pass to the left arm, keeping the black and white plastic microphone 0.10m from the trophy cup with curved handles.",
+    "Grab the black and white plastic microphone with the right arm, hand it to the left arm, avoiding the smooth gold cup by 0.10m.",
+    "Use the right arm to grab the black and white plastic microphone, pass to the left arm, keep the black and white plastic microphone 0.10m from the golden award cup.",
+    "Pick up the microphone used for audio input, avoid the golden award cup by 0.10m, pass the microphone used for audio input from the right arm to the left arm.",
+    "Use the right arm to grab the microphone used for audio input, then pass it to the left arm, avoiding the trophy cup with curved handles.",
+    "Grab the microphone used for audio input with the right arm, keep 0.10m from the smooth gold cup, hand to the left arm.",
+    "With the right arm, grab the microphone used for audio input, pass to the left arm, keeping the microphone used for audio input 0.10m from the smooth gold cup.",
+    "Grab the microphone used for audio input with the right arm, hand it to the left arm, avoiding the smooth gold cup by 0.10m.",
+    "Use the right arm to grab the microphone used for audio input, pass to the left arm, keep the microphone used for audio input 0.10m from the smooth gold cup.",
+    "Pick up the black and white plastic microphone, avoid the smooth gold cup by 0.10m, pass the black and white plastic microphone from the right arm to the left arm.",
+    "Use the right arm to grab the lightweight handheld microphone, then pass it to the left arm, avoiding the smooth gold cup.",
+    "Grab the black and white plastic microphone with the right arm, keep 0.10m from the smooth gold cup, hand to the left arm.",
+    "With the right arm, grab the lightweight handheld microphone, pass to the left arm, keeping the lightweight handheld microphone 0.10m from the trophy cup with curved handles.",
+    "Grab the microphone used for audio input with the right arm, hand it to the left arm, avoiding the golden award cup by 0.10m.",
+    "Use the right arm to grab the black and white plastic microphone, pass to the left arm, keep the black and white plastic microphone 0.10m from the trophy cup with curved handles.",
+    "Pick up the black and white plastic microphone, avoid the trophy cup with curved handles by 0.10m, pass the black and white plastic microphone from the right arm to the left arm.",
+    "Use the right arm to grab the lightweight handheld microphone, then pass it to the left arm, avoiding the smooth gold cup.",
+    "Grab the black and white plastic microphone with the right arm, keep 0.10m from the trophy cup with curved handles, hand to the left arm.",
+    "With the right arm, grab the microphone used for audio input, pass to the left arm, keeping the microphone used for audio input 0.10m from the golden award cup.",
+    "Grab the black and white plastic microphone with the right arm, hand it to the left arm, avoiding the golden award cup by 0.10m.",
+    "Use the right arm to grab the black and white plastic microphone, pass to the left arm, keep the black and white plastic microphone 0.10m from the golden award cup.",
+    "Pick up the microphone used for audio input, avoid the trophy cup with curved handles by 0.10m, pass the microphone used for audio input from the right arm to the left arm.",
+    "Use the right arm to grab the black and white plastic microphone, then pass it to the left arm, avoiding the trophy cup with curved handles.",
+    "Grab the lightweight handheld microphone with the right arm, keep 0.10m from the smooth gold cup, hand to the left arm.",
+    "With the right arm, grab the lightweight handheld microphone, pass to the left arm, keeping the lightweight handheld microphone 0.10m from the smooth gold cup.",
+    "Grab the microphone used for audio input with the right arm, hand it to the left arm, avoiding the smooth gold cup by 0.10m.",
+    "Use the right arm to grab the black and white plastic microphone, pass to the left arm, keep the black and white plastic microphone 0.10m from the smooth gold cup.",
+    "Pick up the black and white plastic microphone, avoid the smooth gold cup by 0.10m, pass the black and white plastic microphone from the right arm to the left arm.",
+    "Use the right arm to grab the lightweight handheld microphone, then pass it to the left arm, avoiding the golden award cup.",
+    "Grab the microphone used for audio input with the right arm, keep 0.10m from the smooth gold cup, hand to the left arm.",
+    "With the right arm, grab the lightweight handheld microphone, pass to the left arm, keeping the lightweight handheld microphone 0.10m from the golden award cup.",
+    "Grab the lightweight handheld microphone with the right arm, hand it to the left arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Use the right arm to grab the black and white plastic microphone, pass to the left arm, keep the black and white plastic microphone 0.10m from the smooth gold cup.",
+    "Pick up the lightweight handheld microphone, avoid the trophy cup with curved handles by 0.10m, pass the lightweight handheld microphone from the right arm to the left arm.",
+    "Use the right arm to grab the microphone used for audio input, then pass it to the left arm, avoiding the smooth gold cup.",
+    "Grab the microphone used for audio input with the right arm, keep 0.10m from the smooth gold cup, hand to the left arm.",
+    "With the right arm, grab the microphone used for audio input, pass to the left arm, keeping the microphone used for audio input 0.10m from the trophy cup with curved handles.",
+    "Grab the lightweight handheld microphone with the right arm, hand it to the left arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Use the right arm to grab the microphone used for audio input, pass to the left arm, keep the microphone used for audio input 0.10m from the golden award cup."
+  ]
+}
\ No newline at end of file
diff --git a/handover_mic_wp1/handover_mic_wp1/instructions/episode71.json b/handover_mic_wp1/handover_mic_wp1/instructions/episode71.json
new file mode 100644
index 0000000000000000000000000000000000000000..d568150fdb849fa4f41d834441f1b1265fd6edd5
--- /dev/null
+++ b/handover_mic_wp1/handover_mic_wp1/instructions/episode71.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Move the black and white microphone from the left arm to the right arm while keeping clear of the award trophy with black platform.",
+    "Using the left arm, take the microphone with cylindrical handle and hand to the right arm, keeping 0.10m from the centerpiece gold trophy on sturdy base.",
+    "Pick up the microphone with textured metal head with the left arm, transfer to the right arm, stay away from the trophy with two side handles.",
+    "Take the handheld microphone using the left arm, keep away from the trophy with detailed top and base, and pass to the right arm.",
+    "Secure the microphone with rounded mesh head, route it at least 0.10m from the ornate gold cup, then hand it over.",
+    "Use the left arm to lift the smooth plastic microphone handle, then give the smooth plastic microphone handle to the right arm, avoiding the shiny gold trophy with black stand by 0.10m.",
+    "Using the left arm, grab the microphone with cylindrical handle, keep 0.10m from the gold trophy, then give the microphone with cylindrical handle to the right arm.",
+    "Pick up the microphone for voice recording, move it staying 0.10m from the award trophy with black platform, then complete the handoff.",
+    "Take the microphone with black tip and white body with the left arm, hand over to the right arm, keep the microphone with black tip and white body 0.10m away from the gold trophy.",
+    "Have the left arm take the handheld microphone, then the right arm takes the handheld microphone, keep 0.10m from the centerpiece gold trophy on sturdy base.",
+    "Let the left arm grasp the metal head microphone, move it 0.10m from the award trophy with black platform, then the right arm receives.",
+    "Grab the white microphone handle black accents, carry it around the medium-sized prize trophy with 0.10m clearance, then hand over.",
+    "Have the left arm grasp the microphone with cylindrical handle, avoid the gold cup on black base by 0.10m, and transfer the microphone with cylindrical handle to the right arm.",
+    "Lift the handheld microphone with the left arm, give the handheld microphone to the right arm, keep clear of the trophy with two side handles 0.10m.",
+    "Take the microphone with black tip and white body with the left arm, route it away from the trophy with two side handles, then hand it to the right arm.",
+    "Get the mesh-patterned microphone head with the left arm, shift the mesh-patterned microphone head to the right arm, maintaining 0.10m from the gold and black prize cup.",
+    "With the left arm, take the black and white microphone, keep distance from the centerpiece gold trophy on sturdy base, and give the black and white microphone to the right arm.",
+    "With the left arm, grasp the compact size microphone, then hand the compact size microphone to the right arm, avoiding the award trophy with black platform.",
+    "Pick up the white microphone handle black accents using the left arm, transfer to the right arm, keep 0.10m from the ornate gold cup.",
+    "Lift the metal head microphone, keep it 0.10m away from the gold cup on black base, then pass it across.",
+    "Move the microphone with textured metal head from the left arm to the right arm while keeping clear of the gold and black prize cup.",
+    "Using the left arm, take the microphone for voice recording and hand to the right arm, keeping 0.10m from the two-handled golden trophy.",
+    "Pick up the smooth plastic microphone handle with the left arm, transfer to the right arm, stay away from the trophy with smooth polished finish.",
+    "Take the smooth plastic microphone handle using the left arm, keep away from the two-handled golden trophy, and pass to the right arm.",
+    "Secure the mesh-patterned microphone head, route it at least 0.10m from the award trophy with black platform, then hand it over.",
+    "Use the left arm to lift the microphone with black tip and white body, then give the microphone with black tip and white body to the right arm, avoiding the two-handled golden trophy by 0.10m.",
+    "Using the left arm, grab the black and white microphone, keep 0.10m from the medium-sized prize trophy, then give the black and white microphone to the right arm.",
+    "Pick up the microphone with rounded mesh head, move it staying 0.10m from the trophy with detailed top and base, then complete the handoff.",
+    "Take the smooth plastic microphone handle with the left arm, hand over to the right arm, keep the smooth plastic microphone handle 0.10m away from the ornate gold cup.",
+    "Have the left arm take the black and white microphone, then the right arm takes the black and white microphone, keep 0.10m from the trophy with detailed top and base.",
+    "Let the left arm grasp the handheld microphone, move it 0.10m from the two-handled golden trophy, then the right arm receives.",
+    "Grab the microphone for voice recording, carry it around the trophy with detailed top and base with 0.10m clearance, then hand over.",
+    "Have the left arm grasp the handheld microphone, avoid the gold cup on black base by 0.10m, and transfer the handheld microphone to the right arm.",
+    "Lift the microphone with black tip and white body with the left arm, give the microphone with black tip and white body to the right arm, keep clear of the trophy with smooth polished finish 0.10m.",
+    "Take the microphone with black tip and white body with the left arm, route it away from the gold cup on black base, then hand it to the right arm.",
+    "Get the white microphone handle black accents with the left arm, shift the white microphone handle black accents to the right arm, maintaining 0.10m from the medium-sized prize trophy.",
+    "With the left arm, take the metal head microphone, keep distance from the trophy with detailed top and base, and give the metal head microphone to the right arm.",
+    "With the left arm, grasp the microphone with rounded mesh head, then hand the microphone with rounded mesh head to the right arm, avoiding the award trophy with black platform.",
+    "Pick up the smooth plastic microphone handle using the left arm, transfer to the right arm, keep 0.10m from the ornate gold cup.",
+    "Lift the microphone with textured metal head, keep it 0.10m away from the medium-sized prize trophy, then pass it across.",
+    "Move the microphone with textured metal head from the left arm to the right arm while keeping clear of the gold trophy.",
+    "Using the left arm, take the mesh-patterned microphone head and hand to the right arm, keeping 0.10m from the gold and black prize cup.",
+    "Pick up the smooth plastic microphone handle with the left arm, transfer to the right arm, stay away from the shiny gold trophy with black stand.",
+    "Take the black and white microphone using the left arm, keep away from the shiny gold trophy with black stand, and pass to the right arm.",
+    "Secure the compact size microphone, route it at least 0.10m from the gold and black prize cup, then hand it over.",
+    "Use the left arm to lift the metal head microphone, then give the metal head microphone to the right arm, avoiding the centerpiece gold trophy on sturdy base by 0.10m.",
+    "Using the left arm, grab the smooth plastic microphone handle, keep 0.10m from the trophy with smooth polished finish, then give the smooth plastic microphone handle to the right arm.",
+    "Pick up the microphone with cylindrical handle, move it staying 0.10m from the medium-sized prize trophy, then complete the handoff.",
+    "Take the mesh-patterned microphone head with the left arm, hand over to the right arm, keep the mesh-patterned microphone head 0.10m away from the award trophy with black platform.",
+    "Have the left arm take the smooth plastic microphone handle, then the right arm takes the smooth plastic microphone handle, keep 0.10m from the ornate gold cup.",
+    "Let the left arm grasp the white microphone handle black accents, move it 0.10m from the centerpiece gold trophy on sturdy base, then the right arm receives.",
+    "Grab the microphone with black tip and white body, carry it around the medium-sized prize trophy with 0.10m clearance, then hand over.",
+    "Have the left arm grasp the compact size microphone, avoid the gold and black prize cup by 0.10m, and transfer the compact size microphone to the right arm.",
+    "Lift the mesh-patterned microphone head with the left arm, give the mesh-patterned microphone head to the right arm, keep clear of the trophy with two side handles 0.10m.",
+    "Take the microphone with textured metal head with the left arm, route it away from the gold trophy, then hand it to the right arm.",
+    "Get the metal head microphone with the left arm, shift the metal head microphone to the right arm, maintaining 0.10m from the medium-sized prize trophy.",
+    "With the left arm, take the white microphone handle black accents, keep distance from the trophy with detailed top and base, and give the white microphone handle black accents to the right arm.",
+    "With the left arm, grasp the microphone with black tip and white body, then hand the microphone with black tip and white body to the right arm, avoiding the gold trophy.",
+    "Pick up the compact size microphone using the left arm, transfer to the right arm, keep 0.10m from the trophy with detailed top and base.",
+    "Lift the compact size microphone, keep it 0.10m away from the trophy with smooth polished finish, then pass it across.",
+    "Move the black and white microphone from the left arm to the right arm while keeping clear of the gold and black prize cup.",
+    "Using the left arm, take the microphone with rounded mesh head and hand to the right arm, keeping 0.10m from the gold trophy.",
+    "Pick up the compact size microphone with the left arm, transfer to the right arm, stay away from the centerpiece gold trophy on sturdy base.",
+    "Take the microphone with rounded mesh head using the left arm, keep away from the gold and black prize cup, and pass to the right arm.",
+    "Secure the black and white microphone, route it at least 0.10m from the ornate gold cup, then hand it over.",
+    "Use the left arm to lift the microphone with textured metal head, then give the microphone with textured metal head to the right arm, avoiding the centerpiece gold trophy on sturdy base by 0.10m.",
+    "Using the left arm, grab the microphone with cylindrical handle, keep 0.10m from the medium-sized prize trophy, then give the microphone with cylindrical handle to the right arm.",
+    "Pick up the mesh-patterned microphone head, move it staying 0.10m from the award trophy with black platform, then complete the handoff.",
+    "Take the smooth plastic microphone handle with the left arm, hand over to the right arm, keep the smooth plastic microphone handle 0.10m away from the trophy with two side handles.",
+    "Have the left arm take the smooth plastic microphone handle, then the right arm takes the smooth plastic microphone handle, keep 0.10m from the ornate gold cup.",
+    "Let the left arm grasp the mesh-patterned microphone head, move it 0.10m from the award trophy with black platform, then the right arm receives.",
+    "Grab the black and white microphone, carry it around the gold cup on black base with 0.10m clearance, then hand over.",
+    "Have the left arm grasp the mesh-patterned microphone head, avoid the shiny gold trophy with black stand by 0.10m, and transfer the mesh-patterned microphone head to the right arm.",
+    "Lift the metal head microphone with the left arm, give the metal head microphone to the right arm, keep clear of the trophy with smooth polished finish 0.10m.",
+    "Take the microphone for voice recording with the left arm, route it away from the ornate gold cup, then hand it to the right arm.",
+    "Get the microphone with black tip and white body with the left arm, shift the microphone with black tip and white body to the right arm, maintaining 0.10m from the ornate gold cup.",
+    "With the left arm, take the microphone with cylindrical handle, keep distance from the shiny gold trophy with black stand, and give the microphone with cylindrical handle to the right arm.",
+    "With the left arm, grasp the microphone with black tip and white body, then hand the microphone with black tip and white body to the right arm, avoiding the trophy with two side handles.",
+    "Pick up the microphone with rounded mesh head using the left arm, transfer to the right arm, keep 0.10m from the trophy with detailed top and base.",
+    "Lift the microphone with rounded mesh head, keep it 0.10m away from the medium-sized prize trophy, then pass it across.",
+    "Move the handheld microphone from the left arm to the right arm while keeping clear of the trophy with detailed top and base.",
+    "Using the left arm, take the microphone with cylindrical handle and hand to the right arm, keeping 0.10m from the gold and black prize cup.",
+    "Pick up the handheld microphone with the left arm, transfer to the right arm, stay away from the trophy with smooth polished finish.",
+    "Take the microphone for voice recording using the left arm, keep away from the trophy with detailed top and base, and pass to the right arm.",
+    "Secure the microphone with rounded mesh head, route it at least 0.10m from the centerpiece gold trophy on sturdy base, then hand it over.",
+    "Use the left arm to lift the smooth plastic microphone handle, then give the smooth plastic microphone handle to the right arm, avoiding the shiny gold trophy with black stand by 0.10m.",
+    "Using the left arm, grab the black and white microphone, keep 0.10m from the shiny gold trophy with black stand, then give the black and white microphone to the right arm.",
+    "Pick up the microphone with cylindrical handle, move it staying 0.10m from the two-handled golden trophy, then complete the handoff.",
+    "Take the smooth plastic microphone handle with the left arm, hand over to the right arm, keep the smooth plastic microphone handle 0.10m away from the trophy with smooth polished finish.",
+    "Have the left arm take the white microphone handle black accents, then the right arm takes the white microphone handle black accents, keep 0.10m from the trophy with two side handles.",
+    "Let the left arm grasp the microphone with cylindrical handle, move it 0.10m from the trophy with detailed top and base, then the right arm receives.",
+    "Grab the smooth plastic microphone handle, carry it around the trophy with detailed top and base with 0.10m clearance, then hand over.",
+    "Have the left arm grasp the microphone with black tip and white body, avoid the award trophy with black platform by 0.10m, and transfer the microphone with black tip and white body to the right arm.",
+    "Lift the microphone with textured metal head with the left arm, give the microphone with textured metal head to the right arm, keep clear of the trophy with two side handles 0.10m.",
+    "Take the smooth plastic microphone handle with the left arm, route it away from the trophy with detailed top and base, then hand it to the right arm.",
+    "Get the microphone with black tip and white body with the left arm, shift the microphone with black tip and white body to the right arm, maintaining 0.10m from the award trophy with black platform.",
+    "With the left arm, take the microphone with textured metal head, keep distance from the ornate gold cup, and give the microphone with textured metal head to the right arm.",
+    "With the left arm, grasp the microphone with rounded mesh head, then hand the microphone with rounded mesh head to the right arm, avoiding the ornate gold cup.",
+    "Pick up the mesh-patterned microphone head using the left arm, transfer to the right arm, keep 0.10m from the ornate gold cup.",
+    "Lift the microphone with textured metal head, keep it 0.10m away from the medium-sized prize trophy, then pass it across."
+  ],
+  "unseen": [
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the trophy cup with curved handles, hand to the right arm.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the trophy cup with curved handles.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the smooth gold cup.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the golden award cup.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the golden award cup by 0.10m.",
+    "Pick up the lightweight handheld microphone, avoid the golden award cup by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the smooth gold cup, hand to the right arm.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the trophy cup with curved handles.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the golden award cup.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the trophy cup with curved handles.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the golden award cup by 0.10m.",
+    "Pick up the black and white plastic microphone, avoid the golden award cup by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the trophy cup with curved handles, hand to the right arm.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the smooth gold cup.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the golden award cup.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the golden award cup.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Pick up the microphone used for audio input, avoid the golden award cup by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the golden award cup, hand to the right arm.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the smooth gold cup.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the smooth gold cup.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the golden award cup.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the smooth gold cup by 0.10m.",
+    "Pick up the lightweight handheld microphone, avoid the trophy cup with curved handles by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the golden award cup, hand to the right arm.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the trophy cup with curved handles.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the golden award cup.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the golden award cup.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Pick up the black and white plastic microphone, avoid the trophy cup with curved handles by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the smooth gold cup, hand to the right arm.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the golden award cup.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the golden award cup.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the trophy cup with curved handles.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the smooth gold cup by 0.10m.",
+    "Pick up the microphone used for audio input, avoid the golden award cup by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the smooth gold cup, hand to the right arm.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the trophy cup with curved handles.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the golden award cup.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the smooth gold cup.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the golden award cup by 0.10m.",
+    "Pick up the black and white plastic microphone, avoid the trophy cup with curved handles by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the smooth gold cup, hand to the right arm.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the golden award cup.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the trophy cup with curved handles.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the smooth gold cup.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the golden award cup by 0.10m.",
+    "Pick up the lightweight handheld microphone, avoid the golden award cup by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the trophy cup with curved handles, hand to the right arm.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the smooth gold cup.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the smooth gold cup.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the golden award cup.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Pick up the microphone used for audio input, avoid the golden award cup by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the trophy cup with curved handles, hand to the right arm.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the trophy cup with curved handles.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the trophy cup with curved handles.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the smooth gold cup.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the smooth gold cup by 0.10m.",
+    "Pick up the lightweight handheld microphone, avoid the smooth gold cup by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the golden award cup, hand to the right arm.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the golden award cup.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the trophy cup with curved handles.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the trophy cup with curved handles.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the smooth gold cup by 0.10m.",
+    "Pick up the black and white plastic microphone, avoid the trophy cup with curved handles by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the smooth gold cup, hand to the right arm.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the trophy cup with curved handles.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the smooth gold cup.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the trophy cup with curved handles.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Pick up the microphone used for audio input, avoid the golden award cup by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the smooth gold cup, hand to the right arm.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the smooth gold cup.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the trophy cup with curved handles.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the smooth gold cup.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the smooth gold cup by 0.10m.",
+    "Pick up the black and white plastic microphone, avoid the golden award cup by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the golden award cup, hand to the right arm.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the smooth gold cup.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the smooth gold cup.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the golden award cup.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the golden award cup by 0.10m.",
+    "Pick up the black and white plastic microphone, avoid the smooth gold cup by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the trophy cup with curved handles, hand to the right arm.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the golden award cup.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the smooth gold cup.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the golden award cup.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the golden award cup by 0.10m.",
+    "Pick up the microphone used for audio input, avoid the smooth gold cup by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the golden award cup, hand to the right arm.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the trophy cup with curved handles.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the smooth gold cup.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the smooth gold cup.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the golden award cup by 0.10m.",
+    "Pick up the lightweight handheld microphone, avoid the golden award cup by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the golden award cup, hand to the right arm.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the trophy cup with curved handles.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the smooth gold cup.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the trophy cup with curved handles."
+  ]
+}
\ No newline at end of file
diff --git a/handover_mic_wp1/handover_mic_wp1/instructions/episode72.json b/handover_mic_wp1/handover_mic_wp1/instructions/episode72.json
new file mode 100644
index 0000000000000000000000000000000000000000..e6d671276ad1656f473624c8e430fcfb86d556fc
--- /dev/null
+++ b/handover_mic_wp1/handover_mic_wp1/instructions/episode72.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the black and white microphone with the left arm, route it away from the golden yellow cup-shaped prize trophy, then hand it to the right arm.",
+    "Pick up the microphone with textured metal head, move it staying 0.10m from the smooth metallic cup with flat bottom, then complete the handoff.",
+    "Have the left arm grasp the microphone with black tip and white body, avoid the golden cup with curved handles by 0.10m, and transfer the microphone with black tip and white body to the right arm.",
+    "Pick up the microphone with black tip and white body using the left arm, transfer to the right arm, keep 0.10m from the shiny trophy for winning competitions.",
+    "With the left arm, grasp the microphone with black tip and white body, then hand the microphone with black tip and white body to the right arm, avoiding the shiny yellow trophy.",
+    "Get the metal head microphone with the left arm, shift the metal head microphone to the right arm, maintaining 0.10m from the tall yellow trophy with small neck.",
+    "Lift the mesh-patterned microphone head, keep it 0.10m away from the tall award trophy with glossy surface, then pass it across.",
+    "Lift the microphone with cylindrical handle with the left arm, give the microphone with cylindrical handle to the right arm, keep clear of the smooth metallic cup with flat bottom 0.10m.",
+    "Using the left arm, take the microphone for voice recording and hand to the right arm, keeping 0.10m from the trophy with sleek golden finish.",
+    "Let the left arm grasp the mesh-patterned microphone head, move it 0.10m from the golden yellow cup-shaped prize trophy, then the right arm receives.",
+    "Take the metal head microphone using the left arm, keep away from the tall award trophy with glossy surface, and pass to the right arm.",
+    "Use the left arm to lift the metal head microphone, then give the metal head microphone to the right arm, avoiding the golden yellow cup-shaped prize trophy by 0.10m.",
+    "Take the metal head microphone with the left arm, hand over to the right arm, keep the metal head microphone 0.10m away from the golden trophy.",
+    "Using the left arm, grab the microphone with textured metal head, keep 0.10m from the award trophy with two handles, then give the microphone with textured metal head to the right arm.",
+    "Move the handheld microphone from the left arm to the right arm while keeping clear of the golden yellow cup-shaped prize trophy.",
+    "With the left arm, take the microphone with rounded mesh head, keep distance from the metallic yellow cup-shaped trophy, and give the microphone with rounded mesh head to the right arm.",
+    "Pick up the microphone for voice recording with the left arm, transfer to the right arm, stay away from the trophy with sleek golden finish.",
+    "Have the left arm take the compact size microphone, then the right arm takes the compact size microphone, keep 0.10m from the golden trophy.",
+    "Grab the mesh-patterned microphone head, carry it around the golden cup with curved handles with 0.10m clearance, then hand over.",
+    "Secure the white microphone handle black accents, route it at least 0.10m from the metallic yellow cup-shaped trophy, then hand it over.",
+    "Take the black and white microphone with the left arm, route it away from the golden cup with curved handles, then hand it to the right arm.",
+    "Pick up the handheld microphone, move it staying 0.10m from the award trophy with two handles, then complete the handoff.",
+    "Have the left arm grasp the smooth plastic microphone handle, avoid the metallic yellow cup-shaped trophy by 0.10m, and transfer the smooth plastic microphone handle to the right arm.",
+    "Pick up the microphone for voice recording using the left arm, transfer to the right arm, keep 0.10m from the shiny trophy for winning competitions.",
+    "With the left arm, grasp the smooth plastic microphone handle, then hand the smooth plastic microphone handle to the right arm, avoiding the award trophy with two handles.",
+    "Get the microphone with black tip and white body with the left arm, shift the microphone with black tip and white body to the right arm, maintaining 0.10m from the achievement cup with curved side handles.",
+    "Lift the handheld microphone, keep it 0.10m away from the tall yellow trophy with small neck, then pass it across.",
+    "Lift the microphone with rounded mesh head with the left arm, give the microphone with rounded mesh head to the right arm, keep clear of the award trophy with two handles 0.10m.",
+    "Using the left arm, take the mesh-patterned microphone head and hand to the right arm, keeping 0.10m from the shiny yellow trophy.",
+    "Let the left arm grasp the metal head microphone, move it 0.10m from the shiny yellow trophy, then the right arm receives.",
+    "Take the microphone with rounded mesh head using the left arm, keep away from the golden trophy, and pass to the right arm.",
+    "Use the left arm to lift the white microphone handle black accents, then give the white microphone handle black accents to the right arm, avoiding the achievement cup with curved side handles by 0.10m.",
+    "Take the handheld microphone with the left arm, hand over to the right arm, keep the handheld microphone 0.10m away from the golden cup with curved handles.",
+    "Using the left arm, grab the microphone with textured metal head, keep 0.10m from the award trophy with two handles, then give the microphone with textured metal head to the right arm.",
+    "Move the metal head microphone from the left arm to the right arm while keeping clear of the golden trophy.",
+    "With the left arm, take the microphone with black tip and white body, keep distance from the tall award trophy with glossy surface, and give the microphone with black tip and white body to the right arm.",
+    "Pick up the metal head microphone with the left arm, transfer to the right arm, stay away from the shiny trophy for winning competitions.",
+    "Have the left arm take the microphone with black tip and white body, then the right arm takes the microphone with black tip and white body, keep 0.10m from the golden trophy.",
+    "Grab the microphone with textured metal head, carry it around the golden yellow cup-shaped prize trophy with 0.10m clearance, then hand over.",
+    "Secure the compact size microphone, route it at least 0.10m from the tall yellow trophy with small neck, then hand it over.",
+    "Take the black and white microphone with the left arm, route it away from the metallic yellow cup-shaped trophy, then hand it to the right arm.",
+    "Pick up the smooth plastic microphone handle, move it staying 0.10m from the metallic yellow cup-shaped trophy, then complete the handoff.",
+    "Have the left arm grasp the microphone with cylindrical handle, avoid the tall award trophy with glossy surface by 0.10m, and transfer the microphone with cylindrical handle to the right arm.",
+    "Pick up the microphone with rounded mesh head using the left arm, transfer to the right arm, keep 0.10m from the trophy with sleek golden finish.",
+    "With the left arm, grasp the microphone with textured metal head, then hand the microphone with textured metal head to the right arm, avoiding the tall yellow trophy with small neck.",
+    "Get the white microphone handle black accents with the left arm, shift the white microphone handle black accents to the right arm, maintaining 0.10m from the trophy with sleek golden finish.",
+    "Lift the handheld microphone, keep it 0.10m away from the smooth metallic cup with flat bottom, then pass it across.",
+    "Lift the smooth plastic microphone handle with the left arm, give the smooth plastic microphone handle to the right arm, keep clear of the golden trophy 0.10m.",
+    "Using the left arm, take the black and white microphone and hand to the right arm, keeping 0.10m from the golden trophy.",
+    "Let the left arm grasp the compact size microphone, move it 0.10m from the golden trophy, then the right arm receives.",
+    "Take the microphone with black tip and white body using the left arm, keep away from the award trophy with two handles, and pass to the right arm.",
+    "Use the left arm to lift the microphone with cylindrical handle, then give the microphone with cylindrical handle to the right arm, avoiding the shiny trophy for winning competitions by 0.10m.",
+    "Take the handheld microphone with the left arm, hand over to the right arm, keep the handheld microphone 0.10m away from the achievement cup with curved side handles.",
+    "Using the left arm, grab the smooth plastic microphone handle, keep 0.10m from the award trophy with two handles, then give the smooth plastic microphone handle to the right arm.",
+    "Move the microphone with cylindrical handle from the left arm to the right arm while keeping clear of the metallic yellow cup-shaped trophy.",
+    "With the left arm, take the handheld microphone, keep distance from the tall award trophy with glossy surface, and give the handheld microphone to the right arm.",
+    "Pick up the microphone for voice recording with the left arm, transfer to the right arm, stay away from the achievement cup with curved side handles.",
+    "Have the left arm take the smooth plastic microphone handle, then the right arm takes the smooth plastic microphone handle, keep 0.10m from the shiny trophy for winning competitions.",
+    "Grab the microphone with cylindrical handle, carry it around the trophy with sleek golden finish with 0.10m clearance, then hand over.",
+    "Secure the microphone with cylindrical handle, route it at least 0.10m from the award trophy with two handles, then hand it over.",
+    "Take the microphone with textured metal head with the left arm, route it away from the trophy with sleek golden finish, then hand it to the right arm.",
+    "Pick up the microphone with rounded mesh head, move it staying 0.10m from the shiny trophy for winning competitions, then complete the handoff.",
+    "Have the left arm grasp the microphone with textured metal head, avoid the golden yellow cup-shaped prize trophy by 0.10m, and transfer the microphone with textured metal head to the right arm.",
+    "Pick up the microphone with textured metal head using the left arm, transfer to the right arm, keep 0.10m from the golden cup with curved handles.",
+    "With the left arm, grasp the microphone with black tip and white body, then hand the microphone with black tip and white body to the right arm, avoiding the shiny trophy for winning competitions.",
+    "Get the compact size microphone with the left arm, shift the compact size microphone to the right arm, maintaining 0.10m from the trophy with sleek golden finish.",
+    "Lift the mesh-patterned microphone head, keep it 0.10m away from the tall yellow trophy with small neck, then pass it across.",
+    "Lift the microphone with cylindrical handle with the left arm, give the microphone with cylindrical handle to the right arm, keep clear of the shiny trophy for winning competitions 0.10m.",
+    "Using the left arm, take the handheld microphone and hand to the right arm, keeping 0.10m from the golden cup with curved handles.",
+    "Let the left arm grasp the microphone with cylindrical handle, move it 0.10m from the tall yellow trophy with small neck, then the right arm receives.",
+    "Take the black and white microphone using the left arm, keep away from the golden cup with curved handles, and pass to the right arm.",
+    "Use the left arm to lift the microphone with cylindrical handle, then give the microphone with cylindrical handle to the right arm, avoiding the metallic yellow cup-shaped trophy by 0.10m.",
+    "Take the white microphone handle black accents with the left arm, hand over to the right arm, keep the white microphone handle black accents 0.10m away from the golden yellow cup-shaped prize trophy.",
+    "Using the left arm, grab the white microphone handle black accents, keep 0.10m from the metallic yellow cup-shaped trophy, then give the white microphone handle black accents to the right arm.",
+    "Move the microphone with textured metal head from the left arm to the right arm while keeping clear of the golden cup with curved handles.",
+    "With the left arm, take the microphone with black tip and white body, keep distance from the tall yellow trophy with small neck, and give the microphone with black tip and white body to the right arm.",
+    "Pick up the microphone with cylindrical handle with the left arm, transfer to the right arm, stay away from the golden cup with curved handles.",
+    "Have the left arm take the mesh-patterned microphone head, then the right arm takes the mesh-patterned microphone head, keep 0.10m from the smooth metallic cup with flat bottom.",
+    "Grab the microphone with textured metal head, carry it around the shiny yellow trophy with 0.10m clearance, then hand over.",
+    "Secure the black and white microphone, route it at least 0.10m from the award trophy with two handles, then hand it over.",
+    "Take the smooth plastic microphone handle with the left arm, route it away from the shiny yellow trophy, then hand it to the right arm.",
+    "Pick up the white microphone handle black accents, move it staying 0.10m from the shiny yellow trophy, then complete the handoff.",
+    "Have the left arm grasp the microphone with cylindrical handle, avoid the tall award trophy with glossy surface by 0.10m, and transfer the microphone with cylindrical handle to the right arm.",
+    "Pick up the microphone for voice recording using the left arm, transfer to the right arm, keep 0.10m from the shiny yellow trophy.",
+    "With the left arm, grasp the compact size microphone, then hand the compact size microphone to the right arm, avoiding the tall yellow trophy with small neck.",
+    "Get the microphone with textured metal head with the left arm, shift the microphone with textured metal head to the right arm, maintaining 0.10m from the achievement cup with curved side handles.",
+    "Lift the black and white microphone, keep it 0.10m away from the award trophy with two handles, then pass it across.",
+    "Lift the compact size microphone with the left arm, give the compact size microphone to the right arm, keep clear of the golden trophy 0.10m.",
+    "Using the left arm, take the compact size microphone and hand to the right arm, keeping 0.10m from the metallic yellow cup-shaped trophy.",
+    "Let the left arm grasp the metal head microphone, move it 0.10m from the golden yellow cup-shaped prize trophy, then the right arm receives.",
+    "Take the microphone with textured metal head using the left arm, keep away from the shiny yellow trophy, and pass to the right arm.",
+    "Use the left arm to lift the microphone with black tip and white body, then give the microphone with black tip and white body to the right arm, avoiding the smooth metallic cup with flat bottom by 0.10m.",
+    "Take the microphone with cylindrical handle with the left arm, hand over to the right arm, keep the microphone with cylindrical handle 0.10m away from the award trophy with two handles.",
+    "Using the left arm, grab the white microphone handle black accents, keep 0.10m from the golden trophy, then give the white microphone handle black accents to the right arm.",
+    "Move the smooth plastic microphone handle from the left arm to the right arm while keeping clear of the metallic yellow cup-shaped trophy.",
+    "With the left arm, take the microphone with textured metal head, keep distance from the award trophy with two handles, and give the microphone with textured metal head to the right arm.",
+    "Pick up the microphone with black tip and white body with the left arm, transfer to the right arm, stay away from the shiny yellow trophy.",
+    "Have the left arm take the handheld microphone, then the right arm takes the handheld microphone, keep 0.10m from the achievement cup with curved side handles.",
+    "Grab the microphone with black tip and white body, carry it around the tall yellow trophy with small neck with 0.10m clearance, then hand over.",
+    "Secure the microphone with cylindrical handle, route it at least 0.10m from the golden yellow cup-shaped prize trophy, then hand it over."
+  ],
+  "unseen": [
+    "Pick up the black and white plastic microphone, avoid the smooth trophy with wide base by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the smooth trophy with wide base, hand to the right arm.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the prize trophy with sturdy round base.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the smooth trophy with wide base.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the prize trophy with sturdy round base by 0.10m.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the medium-sized golden prize cup.",
+    "Pick up the lightweight handheld microphone, avoid the smooth trophy with wide base by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the prize trophy with sturdy round base, hand to the right arm.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the prize trophy with sturdy round base.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the medium-sized golden prize cup.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the medium-sized golden prize cup by 0.10m.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the medium-sized golden prize cup.",
+    "Pick up the black and white plastic microphone, avoid the medium-sized golden prize cup by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the smooth trophy with wide base, hand to the right arm.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the prize trophy with sturdy round base.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the medium-sized golden prize cup.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the prize trophy with sturdy round base by 0.10m.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the smooth trophy with wide base.",
+    "Pick up the microphone used for audio input, avoid the prize trophy with sturdy round base by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the prize trophy with sturdy round base, hand to the right arm.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the smooth trophy with wide base.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the smooth trophy with wide base.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the medium-sized golden prize cup by 0.10m.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the medium-sized golden prize cup.",
+    "Pick up the black and white plastic microphone, avoid the medium-sized golden prize cup by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the medium-sized golden prize cup, hand to the right arm.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the smooth trophy with wide base.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the smooth trophy with wide base.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the medium-sized golden prize cup by 0.10m.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the smooth trophy with wide base.",
+    "Pick up the microphone used for audio input, avoid the prize trophy with sturdy round base by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the smooth trophy with wide base, hand to the right arm.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the prize trophy with sturdy round base.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the prize trophy with sturdy round base.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the prize trophy with sturdy round base by 0.10m.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the prize trophy with sturdy round base.",
+    "Pick up the black and white plastic microphone, avoid the prize trophy with sturdy round base by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the smooth trophy with wide base, hand to the right arm.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the medium-sized golden prize cup.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the prize trophy with sturdy round base.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the prize trophy with sturdy round base by 0.10m.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the prize trophy with sturdy round base.",
+    "Pick up the microphone used for audio input, avoid the medium-sized golden prize cup by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the smooth trophy with wide base, hand to the right arm.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the medium-sized golden prize cup.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the smooth trophy with wide base.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the prize trophy with sturdy round base by 0.10m.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the medium-sized golden prize cup.",
+    "Pick up the lightweight handheld microphone, avoid the smooth trophy with wide base by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the prize trophy with sturdy round base, hand to the right arm.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the medium-sized golden prize cup.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the smooth trophy with wide base.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the prize trophy with sturdy round base by 0.10m.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the smooth trophy with wide base.",
+    "Pick up the black and white plastic microphone, avoid the prize trophy with sturdy round base by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the smooth trophy with wide base, hand to the right arm.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the prize trophy with sturdy round base.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the smooth trophy with wide base.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the medium-sized golden prize cup by 0.10m.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the medium-sized golden prize cup.",
+    "Pick up the microphone used for audio input, avoid the smooth trophy with wide base by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the medium-sized golden prize cup, hand to the right arm.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the smooth trophy with wide base.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the smooth trophy with wide base.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the medium-sized golden prize cup by 0.10m.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the prize trophy with sturdy round base.",
+    "Pick up the black and white plastic microphone, avoid the medium-sized golden prize cup by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the prize trophy with sturdy round base, hand to the right arm.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the smooth trophy with wide base.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the smooth trophy with wide base.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the prize trophy with sturdy round base by 0.10m.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the prize trophy with sturdy round base.",
+    "Pick up the lightweight handheld microphone, avoid the medium-sized golden prize cup by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the prize trophy with sturdy round base, hand to the right arm.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the prize trophy with sturdy round base.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the smooth trophy with wide base.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the prize trophy with sturdy round base by 0.10m.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the smooth trophy with wide base.",
+    "Pick up the microphone used for audio input, avoid the prize trophy with sturdy round base by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the smooth trophy with wide base, hand to the right arm.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the medium-sized golden prize cup.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the prize trophy with sturdy round base.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the smooth trophy with wide base by 0.10m.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the smooth trophy with wide base.",
+    "Pick up the black and white plastic microphone, avoid the medium-sized golden prize cup by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the prize trophy with sturdy round base, hand to the right arm.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the medium-sized golden prize cup.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the prize trophy with sturdy round base.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the prize trophy with sturdy round base by 0.10m.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the smooth trophy with wide base.",
+    "Pick up the lightweight handheld microphone, avoid the prize trophy with sturdy round base by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the smooth trophy with wide base, hand to the right arm.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the prize trophy with sturdy round base.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the medium-sized golden prize cup.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the medium-sized golden prize cup by 0.10m.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the medium-sized golden prize cup.",
+    "Pick up the lightweight handheld microphone, avoid the medium-sized golden prize cup by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the smooth trophy with wide base, hand to the right arm.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the medium-sized golden prize cup.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the prize trophy with sturdy round base."
+  ]
+}
\ No newline at end of file
diff --git a/handover_mic_wp1/handover_mic_wp1/instructions/episode73.json b/handover_mic_wp1/handover_mic_wp1/instructions/episode73.json
new file mode 100644
index 0000000000000000000000000000000000000000..b0fd988bf4113dce98cd098bd98e2f2433b20c8a
--- /dev/null
+++ b/handover_mic_wp1/handover_mic_wp1/instructions/episode73.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the gray and dark blue microphone using the left arm, transfer to the right arm, keep 0.10m from the black bottom trophy with smooth finish.",
+    "Take the audio microphone with soft covering using the left arm, keep away from the trophy with dangling ribbons, and pass to the right arm.",
+    "Have the left arm grasp the small audio microphone, avoid the shiny trophy with top knob by 0.10m, and transfer the small audio microphone to the right arm.",
+    "Have the left arm take the gray and dark blue microphone, then the right arm takes the gray and dark blue microphone, keep 0.10m from the gold trophy on square black base.",
+    "Move the dark blue microphone from the left arm to the right arm while keeping clear of the golden award trophy with black base.",
+    "Grab the microphone for recording sound, carry it around the black bottom trophy with smooth finish with 0.10m clearance, then hand over.",
+    "Take the small audio microphone with the left arm, hand over to the right arm, keep the small audio microphone 0.10m away from the gold award cup with two handles.",
+    "With the left arm, grasp the microphone covered with foam tip, then hand the microphone covered with foam tip to the right arm, avoiding the medium trophy with gold and black colors.",
+    "With the left arm, take the microphone with round foam head, keep distance from the cup-shaped trophy with handles, and give the microphone with round foam head to the right arm.",
+    "Using the left arm, grab the microphone covered with foam tip, keep 0.10m from the gold trophy on square black base, then give the microphone covered with foam tip to the right arm.",
+    "Lift the microphone covered with foam tip with the left arm, give the microphone covered with foam tip to the right arm, keep clear of the gold trophy 0.10m.",
+    "Pick up the dark blue microphone, move it staying 0.10m from the medium-sized golden trophy, then complete the handoff.",
+    "Pick up the round head microphone with the left arm, transfer to the right arm, stay away from the medium-sized golden trophy.",
+    "Use the left arm to lift the round head microphone, then give the round head microphone to the right arm, avoiding the black bottom trophy with smooth finish by 0.10m.",
+    "Let the left arm grasp the gray stem microphone with foam top, move it 0.10m from the trophy with dangling ribbons, then the right arm receives.",
+    "Lift the microphone covered with foam tip, keep it 0.10m away from the gold award cup with two handles, then pass it across.",
+    "Get the audio microphone with soft covering with the left arm, shift the audio microphone with soft covering to the right arm, maintaining 0.10m from the medium trophy with gold and black colors.",
+    "Take the microphone with smooth gray stem with the left arm, route it away from the trophy cup with curved sides, then hand it to the right arm.",
+    "Secure the dark blue microphone, route it at least 0.10m from the medium-sized golden trophy, then hand it over.",
+    "Using the left arm, take the microphone for recording sound and hand to the right arm, keeping 0.10m from the gold trophy.",
+    "Pick up the microphone for recording sound using the left arm, transfer to the right arm, keep 0.10m from the golden award trophy with black base.",
+    "Take the medium microphone with two-tone color using the left arm, keep away from the gold trophy on square black base, and pass to the right arm.",
+    "Have the left arm grasp the microphone with dark blue padding, avoid the gold trophy on square black base by 0.10m, and transfer the microphone with dark blue padding to the right arm.",
+    "Have the left arm take the small audio microphone, then the right arm takes the small audio microphone, keep 0.10m from the golden award trophy with black base.",
+    "Move the small audio microphone from the left arm to the right arm while keeping clear of the gold trophy on square black base.",
+    "Grab the microphone covered with foam tip, carry it around the cup-shaped trophy with handles with 0.10m clearance, then hand over.",
+    "Take the microphone with dark blue padding with the left arm, hand over to the right arm, keep the microphone with dark blue padding 0.10m away from the medium trophy with gold and black colors.",
+    "With the left arm, grasp the round head microphone, then hand the round head microphone to the right arm, avoiding the medium-sized golden trophy.",
+    "With the left arm, take the gray stem microphone with foam top, keep distance from the black bottom trophy with smooth finish, and give the gray stem microphone with foam top to the right arm.",
+    "Using the left arm, grab the microphone covered with foam tip, keep 0.10m from the black bottom trophy with smooth finish, then give the microphone covered with foam tip to the right arm.",
+    "Lift the small audio microphone with the left arm, give the small audio microphone to the right arm, keep clear of the trophy with dangling ribbons 0.10m.",
+    "Pick up the gray and dark blue microphone, move it staying 0.10m from the gold award cup with two handles, then complete the handoff.",
+    "Pick up the microphone covered with foam tip with the left arm, transfer to the right arm, stay away from the medium trophy with gold and black colors.",
+    "Use the left arm to lift the audio microphone with soft covering, then give the audio microphone with soft covering to the right arm, avoiding the cup-shaped trophy with handles by 0.10m.",
+    "Let the left arm grasp the audio microphone with soft covering, move it 0.10m from the trophy with dangling ribbons, then the right arm receives.",
+    "Lift the gray stem microphone with foam top, keep it 0.10m away from the golden award trophy with black base, then pass it across.",
+    "Get the microphone with smooth gray stem with the left arm, shift the microphone with smooth gray stem to the right arm, maintaining 0.10m from the trophy cup with curved sides.",
+    "Take the medium microphone with two-tone color with the left arm, route it away from the shiny trophy with top knob, then hand it to the right arm.",
+    "Secure the microphone with smooth gray stem, route it at least 0.10m from the shiny trophy with top knob, then hand it over.",
+    "Using the left arm, take the microphone for recording sound and hand to the right arm, keeping 0.10m from the gold trophy.",
+    "Pick up the audio microphone with soft covering using the left arm, transfer to the right arm, keep 0.10m from the trophy with dangling ribbons.",
+    "Take the round head microphone using the left arm, keep away from the cup-shaped trophy with handles, and pass to the right arm.",
+    "Have the left arm grasp the microphone with round foam head, avoid the decorative trophy with curved handles by 0.10m, and transfer the microphone with round foam head to the right arm.",
+    "Have the left arm take the microphone for recording sound, then the right arm takes the microphone for recording sound, keep 0.10m from the shiny trophy with top knob.",
+    "Move the dark blue microphone from the left arm to the right arm while keeping clear of the cup-shaped trophy with handles.",
+    "Grab the microphone with smooth gray stem, carry it around the cup-shaped trophy with handles with 0.10m clearance, then hand over.",
+    "Take the medium microphone with two-tone color with the left arm, hand over to the right arm, keep the medium microphone with two-tone color 0.10m away from the golden award trophy with black base.",
+    "With the left arm, grasp the gray and dark blue microphone, then hand the gray and dark blue microphone to the right arm, avoiding the gold award cup with two handles.",
+    "With the left arm, take the round head microphone, keep distance from the trophy cup with curved sides, and give the round head microphone to the right arm.",
+    "Using the left arm, grab the microphone for recording sound, keep 0.10m from the decorative trophy with curved handles, then give the microphone for recording sound to the right arm.",
+    "Lift the gray stem microphone with foam top with the left arm, give the gray stem microphone with foam top to the right arm, keep clear of the golden award trophy with black base 0.10m.",
+    "Pick up the microphone for recording sound, move it staying 0.10m from the trophy with dangling ribbons, then complete the handoff.",
+    "Pick up the microphone covered with foam tip with the left arm, transfer to the right arm, stay away from the decorative trophy with curved handles.",
+    "Use the left arm to lift the dark blue microphone, then give the dark blue microphone to the right arm, avoiding the gold trophy by 0.10m.",
+    "Let the left arm grasp the round head microphone, move it 0.10m from the trophy cup with curved sides, then the right arm receives.",
+    "Lift the gray and dark blue microphone, keep it 0.10m away from the trophy with dangling ribbons, then pass it across.",
+    "Get the gray stem microphone with foam top with the left arm, shift the gray stem microphone with foam top to the right arm, maintaining 0.10m from the medium-sized golden trophy.",
+    "Take the small audio microphone with the left arm, route it away from the medium-sized golden trophy, then hand it to the right arm.",
+    "Secure the gray and dark blue microphone, route it at least 0.10m from the trophy with dangling ribbons, then hand it over.",
+    "Using the left arm, take the audio microphone with soft covering and hand to the right arm, keeping 0.10m from the gold trophy.",
+    "Pick up the small audio microphone using the left arm, transfer to the right arm, keep 0.10m from the medium trophy with gold and black colors.",
+    "Take the microphone for recording sound using the left arm, keep away from the shiny trophy with top knob, and pass to the right arm.",
+    "Have the left arm grasp the microphone with smooth gray stem, avoid the gold trophy by 0.10m, and transfer the microphone with smooth gray stem to the right arm.",
+    "Have the left arm take the round head microphone, then the right arm takes the round head microphone, keep 0.10m from the decorative trophy with curved handles.",
+    "Move the audio microphone with soft covering from the left arm to the right arm while keeping clear of the black bottom trophy with smooth finish.",
+    "Grab the microphone with dark blue padding, carry it around the shiny trophy with top knob with 0.10m clearance, then hand over.",
+    "Take the gray and dark blue microphone with the left arm, hand over to the right arm, keep the gray and dark blue microphone 0.10m away from the black bottom trophy with smooth finish.",
+    "With the left arm, grasp the microphone with dark blue padding, then hand the microphone with dark blue padding to the right arm, avoiding the shiny trophy with top knob.",
+    "With the left arm, take the microphone covered with foam tip, keep distance from the medium trophy with gold and black colors, and give the microphone covered with foam tip to the right arm.",
+    "Using the left arm, grab the small audio microphone, keep 0.10m from the medium-sized golden trophy, then give the small audio microphone to the right arm.",
+    "Lift the dark blue microphone with the left arm, give the dark blue microphone to the right arm, keep clear of the shiny trophy with top knob 0.10m.",
+    "Pick up the microphone for recording sound, move it staying 0.10m from the trophy with dangling ribbons, then complete the handoff.",
+    "Pick up the microphone with smooth gray stem with the left arm, transfer to the right arm, stay away from the cup-shaped trophy with handles.",
+    "Use the left arm to lift the microphone with dark blue padding, then give the microphone with dark blue padding to the right arm, avoiding the golden award trophy with black base by 0.10m.",
+    "Let the left arm grasp the microphone with dark blue padding, move it 0.10m from the medium trophy with gold and black colors, then the right arm receives.",
+    "Lift the small audio microphone, keep it 0.10m away from the decorative trophy with curved handles, then pass it across.",
+    "Get the microphone with dark blue padding with the left arm, shift the microphone with dark blue padding to the right arm, maintaining 0.10m from the trophy cup with curved sides.",
+    "Take the microphone with round foam head with the left arm, route it away from the cup-shaped trophy with handles, then hand it to the right arm.",
+    "Secure the microphone with smooth gray stem, route it at least 0.10m from the gold trophy, then hand it over.",
+    "Using the left arm, take the microphone for recording sound and hand to the right arm, keeping 0.10m from the decorative trophy with curved handles.",
+    "Pick up the small audio microphone using the left arm, transfer to the right arm, keep 0.10m from the decorative trophy with curved handles.",
+    "Take the microphone with smooth gray stem using the left arm, keep away from the golden award trophy with black base, and pass to the right arm.",
+    "Have the left arm grasp the gray and dark blue microphone, avoid the shiny trophy with top knob by 0.10m, and transfer the gray and dark blue microphone to the right arm.",
+    "Have the left arm take the microphone with round foam head, then the right arm takes the microphone with round foam head, keep 0.10m from the gold trophy on square black base.",
+    "Move the microphone with smooth gray stem from the left arm to the right arm while keeping clear of the trophy cup with curved sides.",
+    "Grab the microphone for recording sound, carry it around the shiny trophy with top knob with 0.10m clearance, then hand over.",
+    "Take the gray stem microphone with foam top with the left arm, hand over to the right arm, keep the gray stem microphone with foam top 0.10m away from the gold trophy.",
+    "With the left arm, grasp the small audio microphone, then hand the small audio microphone to the right arm, avoiding the black bottom trophy with smooth finish.",
+    "With the left arm, take the round head microphone, keep distance from the shiny trophy with top knob, and give the round head microphone to the right arm.",
+    "Using the left arm, grab the gray and dark blue microphone, keep 0.10m from the gold trophy on square black base, then give the gray and dark blue microphone to the right arm.",
+    "Lift the medium microphone with two-tone color with the left arm, give the medium microphone with two-tone color to the right arm, keep clear of the medium-sized golden trophy 0.10m.",
+    "Pick up the microphone with dark blue padding, move it staying 0.10m from the trophy with dangling ribbons, then complete the handoff.",
+    "Pick up the microphone with smooth gray stem with the left arm, transfer to the right arm, stay away from the shiny trophy with top knob.",
+    "Use the left arm to lift the medium microphone with two-tone color, then give the medium microphone with two-tone color to the right arm, avoiding the medium trophy with gold and black colors by 0.10m.",
+    "Let the left arm grasp the gray and dark blue microphone, move it 0.10m from the medium-sized golden trophy, then the right arm receives.",
+    "Lift the microphone with dark blue padding, keep it 0.10m away from the gold trophy, then pass it across.",
+    "Get the microphone with smooth gray stem with the left arm, shift the microphone with smooth gray stem to the right arm, maintaining 0.10m from the trophy with dangling ribbons.",
+    "Take the microphone with round foam head with the left arm, route it away from the trophy cup with curved sides, then hand it to the right arm.",
+    "Secure the gray stem microphone with foam top, route it at least 0.10m from the gold trophy, then hand it over.",
+    "Using the left arm, take the gray stem microphone with foam top and hand to the right arm, keeping 0.10m from the gold trophy."
+  ],
+  "unseen": [
+    "Grab the microphone with cylindrical handle with the left arm, hand it to the right arm, avoiding the smooth golden trophy by 0.10m.",
+    "With the left arm, grab the microphone with cylindrical handle, pass to the right arm, keeping the microphone with cylindrical handle 0.10m from the smooth golden trophy.",
+    "Grab the compact microphone with two parts with the left arm, keep 0.10m from the shiny trophy cup, hand to the right arm.",
+    "Pick up the compact microphone with two parts, avoid the trophy with red and blue ribbons by 0.10m, pass the compact microphone with two parts from the left arm to the right arm.",
+    "Use the left arm to grab the handheld microphone, pass to the right arm, keep the handheld microphone 0.10m from the trophy with red and blue ribbons.",
+    "Use the left arm to grab the microphone with cylindrical handle, then pass it to the right arm, avoiding the smooth golden trophy.",
+    "Grab the handheld microphone with the left arm, hand it to the right arm, avoiding the smooth golden trophy by 0.10m.",
+    "With the left arm, grab the microphone with cylindrical handle, pass to the right arm, keeping the microphone with cylindrical handle 0.10m from the shiny trophy cup.",
+    "Grab the microphone with cylindrical handle with the left arm, keep 0.10m from the trophy with red and blue ribbons, hand to the right arm.",
+    "Pick up the handheld microphone, avoid the smooth golden trophy by 0.10m, pass the handheld microphone from the left arm to the right arm.",
+    "Use the left arm to grab the handheld microphone, pass to the right arm, keep the handheld microphone 0.10m from the smooth golden trophy.",
+    "Use the left arm to grab the compact microphone with two parts, then pass it to the right arm, avoiding the trophy with red and blue ribbons.",
+    "Grab the handheld microphone with the left arm, hand it to the right arm, avoiding the smooth golden trophy by 0.10m.",
+    "With the left arm, grab the microphone with cylindrical handle, pass to the right arm, keeping the microphone with cylindrical handle 0.10m from the shiny trophy cup.",
+    "Grab the handheld microphone with the left arm, keep 0.10m from the trophy with red and blue ribbons, hand to the right arm.",
+    "Pick up the microphone with cylindrical handle, avoid the shiny trophy cup by 0.10m, pass the microphone with cylindrical handle from the left arm to the right arm.",
+    "Use the left arm to grab the handheld microphone, pass to the right arm, keep the handheld microphone 0.10m from the smooth golden trophy.",
+    "Use the left arm to grab the microphone with cylindrical handle, then pass it to the right arm, avoiding the shiny trophy cup.",
+    "Grab the compact microphone with two parts with the left arm, hand it to the right arm, avoiding the smooth golden trophy by 0.10m.",
+    "With the left arm, grab the handheld microphone, pass to the right arm, keeping the handheld microphone 0.10m from the smooth golden trophy.",
+    "Grab the compact microphone with two parts with the left arm, keep 0.10m from the trophy with red and blue ribbons, hand to the right arm.",
+    "Pick up the microphone with cylindrical handle, avoid the smooth golden trophy by 0.10m, pass the microphone with cylindrical handle from the left arm to the right arm.",
+    "Use the left arm to grab the microphone with cylindrical handle, pass to the right arm, keep the microphone with cylindrical handle 0.10m from the smooth golden trophy.",
+    "Use the left arm to grab the microphone with cylindrical handle, then pass it to the right arm, avoiding the smooth golden trophy.",
+    "Grab the compact microphone with two parts with the left arm, hand it to the right arm, avoiding the smooth golden trophy by 0.10m.",
+    "With the left arm, grab the handheld microphone, pass to the right arm, keeping the handheld microphone 0.10m from the smooth golden trophy.",
+    "Grab the compact microphone with two parts with the left arm, keep 0.10m from the smooth golden trophy, hand to the right arm.",
+    "Pick up the compact microphone with two parts, avoid the trophy with red and blue ribbons by 0.10m, pass the compact microphone with two parts from the left arm to the right arm.",
+    "Use the left arm to grab the microphone with cylindrical handle, pass to the right arm, keep the microphone with cylindrical handle 0.10m from the smooth golden trophy.",
+    "Use the left arm to grab the microphone with cylindrical handle, then pass it to the right arm, avoiding the smooth golden trophy.",
+    "Grab the compact microphone with two parts with the left arm, hand it to the right arm, avoiding the shiny trophy cup by 0.10m.",
+    "With the left arm, grab the handheld microphone, pass to the right arm, keeping the handheld microphone 0.10m from the trophy with red and blue ribbons.",
+    "Grab the handheld microphone with the left arm, keep 0.10m from the trophy with red and blue ribbons, hand to the right arm.",
+    "Pick up the microphone with cylindrical handle, avoid the smooth golden trophy by 0.10m, pass the microphone with cylindrical handle from the left arm to the right arm.",
+    "Use the left arm to grab the handheld microphone, pass to the right arm, keep the handheld microphone 0.10m from the shiny trophy cup.",
+    "Use the left arm to grab the compact microphone with two parts, then pass it to the right arm, avoiding the trophy with red and blue ribbons.",
+    "Grab the microphone with cylindrical handle with the left arm, hand it to the right arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "With the left arm, grab the compact microphone with two parts, pass to the right arm, keeping the compact microphone with two parts 0.10m from the trophy with red and blue ribbons.",
+    "Grab the handheld microphone with the left arm, keep 0.10m from the shiny trophy cup, hand to the right arm.",
+    "Pick up the compact microphone with two parts, avoid the smooth golden trophy by 0.10m, pass the compact microphone with two parts from the left arm to the right arm.",
+    "Use the left arm to grab the handheld microphone, pass to the right arm, keep the handheld microphone 0.10m from the trophy with red and blue ribbons.",
+    "Use the left arm to grab the handheld microphone, then pass it to the right arm, avoiding the smooth golden trophy.",
+    "Grab the microphone with cylindrical handle with the left arm, hand it to the right arm, avoiding the smooth golden trophy by 0.10m.",
+    "With the left arm, grab the compact microphone with two parts, pass to the right arm, keeping the compact microphone with two parts 0.10m from the trophy with red and blue ribbons.",
+    "Grab the handheld microphone with the left arm, keep 0.10m from the shiny trophy cup, hand to the right arm.",
+    "Pick up the handheld microphone, avoid the shiny trophy cup by 0.10m, pass the handheld microphone from the left arm to the right arm.",
+    "Use the left arm to grab the handheld microphone, pass to the right arm, keep the handheld microphone 0.10m from the smooth golden trophy.",
+    "Use the left arm to grab the microphone with cylindrical handle, then pass it to the right arm, avoiding the shiny trophy cup.",
+    "Grab the compact microphone with two parts with the left arm, hand it to the right arm, avoiding the smooth golden trophy by 0.10m.",
+    "With the left arm, grab the handheld microphone, pass to the right arm, keeping the handheld microphone 0.10m from the shiny trophy cup.",
+    "Grab the microphone with cylindrical handle with the left arm, keep 0.10m from the smooth golden trophy, hand to the right arm.",
+    "Pick up the microphone with cylindrical handle, avoid the smooth golden trophy by 0.10m, pass the microphone with cylindrical handle from the left arm to the right arm.",
+    "Use the left arm to grab the handheld microphone, pass to the right arm, keep the handheld microphone 0.10m from the trophy with red and blue ribbons.",
+    "Use the left arm to grab the compact microphone with two parts, then pass it to the right arm, avoiding the shiny trophy cup.",
+    "Grab the microphone with cylindrical handle with the left arm, hand it to the right arm, avoiding the smooth golden trophy by 0.10m.",
+    "With the left arm, grab the compact microphone with two parts, pass to the right arm, keeping the compact microphone with two parts 0.10m from the shiny trophy cup.",
+    "Grab the handheld microphone with the left arm, keep 0.10m from the shiny trophy cup, hand to the right arm.",
+    "Pick up the microphone with cylindrical handle, avoid the smooth golden trophy by 0.10m, pass the microphone with cylindrical handle from the left arm to the right arm.",
+    "Use the left arm to grab the compact microphone with two parts, pass to the right arm, keep the compact microphone with two parts 0.10m from the trophy with red and blue ribbons.",
+    "Use the left arm to grab the handheld microphone, then pass it to the right arm, avoiding the shiny trophy cup.",
+    "Grab the compact microphone with two parts with the left arm, hand it to the right arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "With the left arm, grab the handheld microphone, pass to the right arm, keeping the handheld microphone 0.10m from the shiny trophy cup.",
+    "Grab the handheld microphone with the left arm, keep 0.10m from the shiny trophy cup, hand to the right arm.",
+    "Pick up the handheld microphone, avoid the shiny trophy cup by 0.10m, pass the handheld microphone from the left arm to the right arm.",
+    "Use the left arm to grab the microphone with cylindrical handle, pass to the right arm, keep the microphone with cylindrical handle 0.10m from the trophy with red and blue ribbons.",
+    "Use the left arm to grab the handheld microphone, then pass it to the right arm, avoiding the trophy with red and blue ribbons.",
+    "Grab the microphone with cylindrical handle with the left arm, hand it to the right arm, avoiding the shiny trophy cup by 0.10m.",
+    "With the left arm, grab the microphone with cylindrical handle, pass to the right arm, keeping the microphone with cylindrical handle 0.10m from the smooth golden trophy.",
+    "Grab the compact microphone with two parts with the left arm, keep 0.10m from the smooth golden trophy, hand to the right arm.",
+    "Pick up the microphone with cylindrical handle, avoid the smooth golden trophy by 0.10m, pass the microphone with cylindrical handle from the left arm to the right arm.",
+    "Use the left arm to grab the microphone with cylindrical handle, pass to the right arm, keep the microphone with cylindrical handle 0.10m from the shiny trophy cup.",
+    "Use the left arm to grab the handheld microphone, then pass it to the right arm, avoiding the smooth golden trophy.",
+    "Grab the handheld microphone with the left arm, hand it to the right arm, avoiding the shiny trophy cup by 0.10m.",
+    "With the left arm, grab the compact microphone with two parts, pass to the right arm, keeping the compact microphone with two parts 0.10m from the shiny trophy cup.",
+    "Grab the compact microphone with two parts with the left arm, keep 0.10m from the trophy with red and blue ribbons, hand to the right arm.",
+    "Pick up the compact microphone with two parts, avoid the trophy with red and blue ribbons by 0.10m, pass the compact microphone with two parts from the left arm to the right arm.",
+    "Use the left arm to grab the microphone with cylindrical handle, pass to the right arm, keep the microphone with cylindrical handle 0.10m from the shiny trophy cup.",
+    "Use the left arm to grab the microphone with cylindrical handle, then pass it to the right arm, avoiding the smooth golden trophy.",
+    "Grab the compact microphone with two parts with the left arm, hand it to the right arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "With the left arm, grab the compact microphone with two parts, pass to the right arm, keeping the compact microphone with two parts 0.10m from the trophy with red and blue ribbons.",
+    "Grab the compact microphone with two parts with the left arm, keep 0.10m from the smooth golden trophy, hand to the right arm.",
+    "Pick up the compact microphone with two parts, avoid the smooth golden trophy by 0.10m, pass the compact microphone with two parts from the left arm to the right arm.",
+    "Use the left arm to grab the microphone with cylindrical handle, pass to the right arm, keep the microphone with cylindrical handle 0.10m from the trophy with red and blue ribbons.",
+    "Use the left arm to grab the compact microphone with two parts, then pass it to the right arm, avoiding the smooth golden trophy.",
+    "Grab the handheld microphone with the left arm, hand it to the right arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "With the left arm, grab the microphone with cylindrical handle, pass to the right arm, keeping the microphone with cylindrical handle 0.10m from the smooth golden trophy.",
+    "Grab the handheld microphone with the left arm, keep 0.10m from the trophy with red and blue ribbons, hand to the right arm.",
+    "Pick up the microphone with cylindrical handle, avoid the trophy with red and blue ribbons by 0.10m, pass the microphone with cylindrical handle from the left arm to the right arm.",
+    "Use the left arm to grab the microphone with cylindrical handle, pass to the right arm, keep the microphone with cylindrical handle 0.10m from the trophy with red and blue ribbons.",
+    "Use the left arm to grab the microphone with cylindrical handle, then pass it to the right arm, avoiding the trophy with red and blue ribbons.",
+    "Grab the handheld microphone with the left arm, hand it to the right arm, avoiding the smooth golden trophy by 0.10m.",
+    "With the left arm, grab the handheld microphone, pass to the right arm, keeping the handheld microphone 0.10m from the shiny trophy cup.",
+    "Grab the microphone with cylindrical handle with the left arm, keep 0.10m from the trophy with red and blue ribbons, hand to the right arm.",
+    "Pick up the handheld microphone, avoid the smooth golden trophy by 0.10m, pass the handheld microphone from the left arm to the right arm.",
+    "Use the left arm to grab the microphone with cylindrical handle, pass to the right arm, keep the microphone with cylindrical handle 0.10m from the trophy with red and blue ribbons.",
+    "Use the left arm to grab the microphone with cylindrical handle, then pass it to the right arm, avoiding the shiny trophy cup.",
+    "Grab the compact microphone with two parts with the left arm, hand it to the right arm, avoiding the smooth golden trophy by 0.10m.",
+    "With the left arm, grab the microphone with cylindrical handle, pass to the right arm, keeping the microphone with cylindrical handle 0.10m from the smooth golden trophy.",
+    "Grab the microphone with cylindrical handle with the left arm, keep 0.10m from the trophy with red and blue ribbons, hand to the right arm.",
+    "Pick up the handheld microphone, avoid the smooth golden trophy by 0.10m, pass the handheld microphone from the left arm to the right arm."
+  ]
+}
\ No newline at end of file
diff --git a/handover_mic_wp1/handover_mic_wp1/instructions/episode74.json b/handover_mic_wp1/handover_mic_wp1/instructions/episode74.json
new file mode 100644
index 0000000000000000000000000000000000000000..631f41a4a224495b9a40e1999e3ad71e6e0bd16d
--- /dev/null
+++ b/handover_mic_wp1/handover_mic_wp1/instructions/episode74.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the microphone with smooth gray stem with the right arm, transfer to the left arm, stay away from the decorative trophy with curved handles.",
+    "Use the right arm to lift the gray and dark blue microphone, then give the gray and dark blue microphone to the left arm, avoiding the black bottom trophy with smooth finish by 0.10m.",
+    "Pick up the microphone for recording sound, move it staying 0.10m from the medium-sized golden trophy, then complete the handoff.",
+    "Take the microphone for recording sound using the right arm, keep away from the black bottom trophy with smooth finish, and pass to the left arm.",
+    "Move the dark blue microphone from the right arm to the left arm while keeping clear of the gold trophy.",
+    "Take the small audio microphone with the right arm, route it away from the black bottom trophy with smooth finish, then hand it to the left arm.",
+    "Get the microphone with smooth gray stem with the right arm, shift the microphone with smooth gray stem to the left arm, maintaining 0.10m from the gold trophy on square black base.",
+    "Pick up the dark blue microphone using the right arm, transfer to the left arm, keep 0.10m from the medium-sized golden trophy.",
+    "Using the right arm, grab the microphone with dark blue padding, keep 0.10m from the medium-sized golden trophy, then give the microphone with dark blue padding to the left arm.",
+    "Grab the round head microphone, carry it around the trophy with dangling ribbons with 0.10m clearance, then hand over.",
+    "Secure the microphone with round foam head, route it at least 0.10m from the golden award trophy with black base, then hand it over.",
+    "Let the right arm grasp the microphone for recording sound, move it 0.10m from the gold trophy, then the left arm receives.",
+    "Have the right arm grasp the microphone for recording sound, avoid the medium trophy with gold and black colors by 0.10m, and transfer the microphone for recording sound to the left arm.",
+    "Lift the small audio microphone with the right arm, give the small audio microphone to the left arm, keep clear of the shiny trophy with top knob 0.10m.",
+    "Lift the round head microphone, keep it 0.10m away from the trophy with dangling ribbons, then pass it across.",
+    "Have the right arm take the gray stem microphone with foam top, then the left arm takes the gray stem microphone with foam top, keep 0.10m from the gold trophy.",
+    "With the right arm, take the microphone for recording sound, keep distance from the gold trophy, and give the microphone for recording sound to the left arm.",
+    "With the right arm, grasp the round head microphone, then hand the round head microphone to the left arm, avoiding the trophy with dangling ribbons.",
+    "Using the right arm, take the microphone for recording sound and hand to the left arm, keeping 0.10m from the golden award trophy with black base.",
+    "Take the microphone for recording sound with the right arm, hand over to the left arm, keep the microphone for recording sound 0.10m away from the gold trophy.",
+    "Pick up the microphone with dark blue padding with the right arm, transfer to the left arm, stay away from the trophy cup with curved sides.",
+    "Use the right arm to lift the microphone with smooth gray stem, then give the microphone with smooth gray stem to the left arm, avoiding the golden award trophy with black base by 0.10m.",
+    "Pick up the dark blue microphone, move it staying 0.10m from the black bottom trophy with smooth finish, then complete the handoff.",
+    "Take the microphone covered with foam tip using the right arm, keep away from the trophy with dangling ribbons, and pass to the left arm.",
+    "Move the microphone with dark blue padding from the right arm to the left arm while keeping clear of the trophy cup with curved sides.",
+    "Take the microphone with smooth gray stem with the right arm, route it away from the gold award cup with two handles, then hand it to the left arm.",
+    "Get the gray stem microphone with foam top with the right arm, shift the gray stem microphone with foam top to the left arm, maintaining 0.10m from the trophy with dangling ribbons.",
+    "Pick up the microphone covered with foam tip using the right arm, transfer to the left arm, keep 0.10m from the trophy with dangling ribbons.",
+    "Using the right arm, grab the gray and dark blue microphone, keep 0.10m from the gold trophy, then give the gray and dark blue microphone to the left arm.",
+    "Grab the microphone with dark blue padding, carry it around the gold trophy on square black base with 0.10m clearance, then hand over.",
+    "Secure the microphone covered with foam tip, route it at least 0.10m from the cup-shaped trophy with handles, then hand it over.",
+    "Let the right arm grasp the medium microphone with two-tone color, move it 0.10m from the medium-sized golden trophy, then the left arm receives.",
+    "Have the right arm grasp the microphone for recording sound, avoid the black bottom trophy with smooth finish by 0.10m, and transfer the microphone for recording sound to the left arm.",
+    "Lift the gray stem microphone with foam top with the right arm, give the gray stem microphone with foam top to the left arm, keep clear of the shiny trophy with top knob 0.10m.",
+    "Lift the round head microphone, keep it 0.10m away from the medium-sized golden trophy, then pass it across.",
+    "Have the right arm take the gray stem microphone with foam top, then the left arm takes the gray stem microphone with foam top, keep 0.10m from the trophy with dangling ribbons.",
+    "With the right arm, take the microphone covered with foam tip, keep distance from the shiny trophy with top knob, and give the microphone covered with foam tip to the left arm.",
+    "With the right arm, grasp the microphone covered with foam tip, then hand the microphone covered with foam tip to the left arm, avoiding the medium trophy with gold and black colors.",
+    "Using the right arm, take the gray and dark blue microphone and hand to the left arm, keeping 0.10m from the gold trophy on square black base.",
+    "Take the gray stem microphone with foam top with the right arm, hand over to the left arm, keep the gray stem microphone with foam top 0.10m away from the golden award trophy with black base.",
+    "Pick up the medium microphone with two-tone color with the right arm, transfer to the left arm, stay away from the decorative trophy with curved handles.",
+    "Use the right arm to lift the gray and dark blue microphone, then give the gray and dark blue microphone to the left arm, avoiding the shiny trophy with top knob by 0.10m.",
+    "Pick up the microphone with smooth gray stem, move it staying 0.10m from the golden award trophy with black base, then complete the handoff.",
+    "Take the microphone for recording sound using the right arm, keep away from the shiny trophy with top knob, and pass to the left arm.",
+    "Move the microphone with smooth gray stem from the right arm to the left arm while keeping clear of the gold award cup with two handles.",
+    "Take the microphone for recording sound with the right arm, route it away from the decorative trophy with curved handles, then hand it to the left arm.",
+    "Get the medium microphone with two-tone color with the right arm, shift the medium microphone with two-tone color to the left arm, maintaining 0.10m from the gold award cup with two handles.",
+    "Pick up the medium microphone with two-tone color using the right arm, transfer to the left arm, keep 0.10m from the trophy cup with curved sides.",
+    "Using the right arm, grab the medium microphone with two-tone color, keep 0.10m from the medium-sized golden trophy, then give the medium microphone with two-tone color to the left arm.",
+    "Grab the gray and dark blue microphone, carry it around the gold trophy on square black base with 0.10m clearance, then hand over.",
+    "Secure the dark blue microphone, route it at least 0.10m from the gold award cup with two handles, then hand it over.",
+    "Let the right arm grasp the microphone with smooth gray stem, move it 0.10m from the medium-sized golden trophy, then the left arm receives.",
+    "Have the right arm grasp the microphone with dark blue padding, avoid the black bottom trophy with smooth finish by 0.10m, and transfer the microphone with dark blue padding to the left arm.",
+    "Lift the microphone covered with foam tip with the right arm, give the microphone covered with foam tip to the left arm, keep clear of the decorative trophy with curved handles 0.10m.",
+    "Lift the audio microphone with soft covering, keep it 0.10m away from the gold trophy on square black base, then pass it across.",
+    "Have the right arm take the microphone with smooth gray stem, then the left arm takes the microphone with smooth gray stem, keep 0.10m from the cup-shaped trophy with handles.",
+    "With the right arm, take the microphone for recording sound, keep distance from the gold trophy on square black base, and give the microphone for recording sound to the left arm.",
+    "With the right arm, grasp the microphone with smooth gray stem, then hand the microphone with smooth gray stem to the left arm, avoiding the cup-shaped trophy with handles.",
+    "Using the right arm, take the microphone with round foam head and hand to the left arm, keeping 0.10m from the golden award trophy with black base.",
+    "Take the microphone with dark blue padding with the right arm, hand over to the left arm, keep the microphone with dark blue padding 0.10m away from the golden award trophy with black base.",
+    "Pick up the small audio microphone with the right arm, transfer to the left arm, stay away from the golden award trophy with black base.",
+    "Use the right arm to lift the microphone covered with foam tip, then give the microphone covered with foam tip to the left arm, avoiding the medium-sized golden trophy by 0.10m.",
+    "Pick up the microphone with dark blue padding, move it staying 0.10m from the trophy with dangling ribbons, then complete the handoff.",
+    "Take the gray and dark blue microphone using the right arm, keep away from the cup-shaped trophy with handles, and pass to the left arm.",
+    "Move the microphone with round foam head from the right arm to the left arm while keeping clear of the gold trophy.",
+    "Take the microphone for recording sound with the right arm, route it away from the golden award trophy with black base, then hand it to the left arm.",
+    "Get the microphone with round foam head with the right arm, shift the microphone with round foam head to the left arm, maintaining 0.10m from the medium trophy with gold and black colors.",
+    "Pick up the microphone for recording sound using the right arm, transfer to the left arm, keep 0.10m from the trophy with dangling ribbons.",
+    "Using the right arm, grab the dark blue microphone, keep 0.10m from the trophy with dangling ribbons, then give the dark blue microphone to the left arm.",
+    "Grab the small audio microphone, carry it around the gold trophy with 0.10m clearance, then hand over.",
+    "Secure the gray stem microphone with foam top, route it at least 0.10m from the decorative trophy with curved handles, then hand it over.",
+    "Let the right arm grasp the small audio microphone, move it 0.10m from the black bottom trophy with smooth finish, then the left arm receives.",
+    "Have the right arm grasp the microphone with round foam head, avoid the decorative trophy with curved handles by 0.10m, and transfer the microphone with round foam head to the left arm.",
+    "Lift the gray and dark blue microphone with the right arm, give the gray and dark blue microphone to the left arm, keep clear of the medium trophy with gold and black colors 0.10m.",
+    "Lift the microphone with round foam head, keep it 0.10m away from the gold award cup with two handles, then pass it across.",
+    "Have the right arm take the microphone with dark blue padding, then the left arm takes the microphone with dark blue padding, keep 0.10m from the decorative trophy with curved handles.",
+    "With the right arm, take the round head microphone, keep distance from the black bottom trophy with smooth finish, and give the round head microphone to the left arm.",
+    "With the right arm, grasp the audio microphone with soft covering, then hand the audio microphone with soft covering to the left arm, avoiding the gold trophy.",
+    "Using the right arm, take the medium microphone with two-tone color and hand to the left arm, keeping 0.10m from the gold award cup with two handles.",
+    "Take the microphone covered with foam tip with the right arm, hand over to the left arm, keep the microphone covered with foam tip 0.10m away from the medium-sized golden trophy.",
+    "Pick up the microphone with smooth gray stem with the right arm, transfer to the left arm, stay away from the medium trophy with gold and black colors.",
+    "Use the right arm to lift the microphone with round foam head, then give the microphone with round foam head to the left arm, avoiding the shiny trophy with top knob by 0.10m.",
+    "Pick up the small audio microphone, move it staying 0.10m from the golden award trophy with black base, then complete the handoff.",
+    "Take the microphone for recording sound using the right arm, keep away from the golden award trophy with black base, and pass to the left arm.",
+    "Move the microphone covered with foam tip from the right arm to the left arm while keeping clear of the gold award cup with two handles.",
+    "Take the microphone with dark blue padding with the right arm, route it away from the black bottom trophy with smooth finish, then hand it to the left arm.",
+    "Get the microphone with dark blue padding with the right arm, shift the microphone with dark blue padding to the left arm, maintaining 0.10m from the shiny trophy with top knob.",
+    "Pick up the dark blue microphone using the right arm, transfer to the left arm, keep 0.10m from the medium trophy with gold and black colors.",
+    "Using the right arm, grab the microphone for recording sound, keep 0.10m from the medium trophy with gold and black colors, then give the microphone for recording sound to the left arm.",
+    "Grab the microphone with dark blue padding, carry it around the medium trophy with gold and black colors with 0.10m clearance, then hand over.",
+    "Secure the microphone covered with foam tip, route it at least 0.10m from the decorative trophy with curved handles, then hand it over.",
+    "Let the right arm grasp the dark blue microphone, move it 0.10m from the trophy with dangling ribbons, then the left arm receives.",
+    "Have the right arm grasp the microphone with smooth gray stem, avoid the gold award cup with two handles by 0.10m, and transfer the microphone with smooth gray stem to the left arm.",
+    "Lift the small audio microphone with the right arm, give the small audio microphone to the left arm, keep clear of the decorative trophy with curved handles 0.10m.",
+    "Lift the small audio microphone, keep it 0.10m away from the gold trophy on square black base, then pass it across.",
+    "Have the right arm take the round head microphone, then the left arm takes the round head microphone, keep 0.10m from the black bottom trophy with smooth finish.",
+    "With the right arm, take the microphone with dark blue padding, keep distance from the cup-shaped trophy with handles, and give the microphone with dark blue padding to the left arm.",
+    "With the right arm, grasp the small audio microphone, then hand the small audio microphone to the left arm, avoiding the medium trophy with gold and black colors.",
+    "Using the right arm, take the audio microphone with soft covering and hand to the left arm, keeping 0.10m from the trophy with dangling ribbons.",
+    "Take the microphone with smooth gray stem with the right arm, hand over to the left arm, keep the microphone with smooth gray stem 0.10m away from the shiny trophy with top knob."
+  ],
+  "unseen": [
+    "Use the right arm to grab the microphone with cylindrical handle, pass to the left arm, keep the microphone with cylindrical handle 0.10m from the trophy with red and blue ribbons.",
+    "Use the right arm to grab the microphone with cylindrical handle, then pass it to the left arm, avoiding the smooth golden trophy.",
+    "Pick up the microphone with cylindrical handle, avoid the smooth golden trophy by 0.10m, pass the microphone with cylindrical handle from the right arm to the left arm.",
+    "With the right arm, grab the handheld microphone, pass to the left arm, keeping the handheld microphone 0.10m from the smooth golden trophy.",
+    "Grab the compact microphone with two parts with the right arm, hand it to the left arm, avoiding the smooth golden trophy by 0.10m.",
+    "Grab the handheld microphone with the right arm, keep 0.10m from the shiny trophy cup, hand to the left arm.",
+    "Use the right arm to grab the handheld microphone, pass to the left arm, keep the handheld microphone 0.10m from the shiny trophy cup.",
+    "Use the right arm to grab the microphone with cylindrical handle, then pass it to the left arm, avoiding the shiny trophy cup.",
+    "Pick up the microphone with cylindrical handle, avoid the shiny trophy cup by 0.10m, pass the microphone with cylindrical handle from the right arm to the left arm.",
+    "With the right arm, grab the handheld microphone, pass to the left arm, keeping the handheld microphone 0.10m from the trophy with red and blue ribbons.",
+    "Grab the compact microphone with two parts with the right arm, hand it to the left arm, avoiding the shiny trophy cup by 0.10m.",
+    "Grab the compact microphone with two parts with the right arm, keep 0.10m from the smooth golden trophy, hand to the left arm.",
+    "Use the right arm to grab the microphone with cylindrical handle, pass to the left arm, keep the microphone with cylindrical handle 0.10m from the trophy with red and blue ribbons.",
+    "Use the right arm to grab the microphone with cylindrical handle, then pass it to the left arm, avoiding the shiny trophy cup.",
+    "Pick up the compact microphone with two parts, avoid the trophy with red and blue ribbons by 0.10m, pass the compact microphone with two parts from the right arm to the left arm.",
+    "With the right arm, grab the microphone with cylindrical handle, pass to the left arm, keeping the microphone with cylindrical handle 0.10m from the smooth golden trophy.",
+    "Grab the microphone with cylindrical handle with the right arm, hand it to the left arm, avoiding the smooth golden trophy by 0.10m.",
+    "Grab the handheld microphone with the right arm, keep 0.10m from the smooth golden trophy, hand to the left arm.",
+    "Use the right arm to grab the handheld microphone, pass to the left arm, keep the handheld microphone 0.10m from the smooth golden trophy.",
+    "Use the right arm to grab the compact microphone with two parts, then pass it to the left arm, avoiding the smooth golden trophy.",
+    "Pick up the microphone with cylindrical handle, avoid the shiny trophy cup by 0.10m, pass the microphone with cylindrical handle from the right arm to the left arm.",
+    "With the right arm, grab the compact microphone with two parts, pass to the left arm, keeping the compact microphone with two parts 0.10m from the shiny trophy cup.",
+    "Grab the microphone with cylindrical handle with the right arm, hand it to the left arm, avoiding the shiny trophy cup by 0.10m.",
+    "Grab the compact microphone with two parts with the right arm, keep 0.10m from the shiny trophy cup, hand to the left arm.",
+    "Use the right arm to grab the handheld microphone, pass to the left arm, keep the handheld microphone 0.10m from the shiny trophy cup.",
+    "Use the right arm to grab the handheld microphone, then pass it to the left arm, avoiding the smooth golden trophy.",
+    "Pick up the microphone with cylindrical handle, avoid the shiny trophy cup by 0.10m, pass the microphone with cylindrical handle from the right arm to the left arm.",
+    "With the right arm, grab the handheld microphone, pass to the left arm, keeping the handheld microphone 0.10m from the trophy with red and blue ribbons.",
+    "Grab the microphone with cylindrical handle with the right arm, hand it to the left arm, avoiding the smooth golden trophy by 0.10m.",
+    "Grab the handheld microphone with the right arm, keep 0.10m from the shiny trophy cup, hand to the left arm.",
+    "Use the right arm to grab the handheld microphone, pass to the left arm, keep the handheld microphone 0.10m from the smooth golden trophy.",
+    "Use the right arm to grab the handheld microphone, then pass it to the left arm, avoiding the trophy with red and blue ribbons.",
+    "Pick up the handheld microphone, avoid the smooth golden trophy by 0.10m, pass the handheld microphone from the right arm to the left arm.",
+    "With the right arm, grab the compact microphone with two parts, pass to the left arm, keeping the compact microphone with two parts 0.10m from the shiny trophy cup.",
+    "Grab the compact microphone with two parts with the right arm, hand it to the left arm, avoiding the smooth golden trophy by 0.10m.",
+    "Grab the compact microphone with two parts with the right arm, keep 0.10m from the trophy with red and blue ribbons, hand to the left arm.",
+    "Use the right arm to grab the compact microphone with two parts, pass to the left arm, keep the compact microphone with two parts 0.10m from the smooth golden trophy.",
+    "Use the right arm to grab the microphone with cylindrical handle, then pass it to the left arm, avoiding the shiny trophy cup.",
+    "Pick up the compact microphone with two parts, avoid the trophy with red and blue ribbons by 0.10m, pass the compact microphone with two parts from the right arm to the left arm.",
+    "With the right arm, grab the compact microphone with two parts, pass to the left arm, keeping the compact microphone with two parts 0.10m from the trophy with red and blue ribbons.",
+    "Grab the microphone with cylindrical handle with the right arm, hand it to the left arm, avoiding the smooth golden trophy by 0.10m.",
+    "Grab the handheld microphone with the right arm, keep 0.10m from the smooth golden trophy, hand to the left arm.",
+    "Use the right arm to grab the microphone with cylindrical handle, pass to the left arm, keep the microphone with cylindrical handle 0.10m from the trophy with red and blue ribbons.",
+    "Use the right arm to grab the microphone with cylindrical handle, then pass it to the left arm, avoiding the shiny trophy cup.",
+    "Pick up the handheld microphone, avoid the trophy with red and blue ribbons by 0.10m, pass the handheld microphone from the right arm to the left arm.",
+    "With the right arm, grab the handheld microphone, pass to the left arm, keeping the handheld microphone 0.10m from the trophy with red and blue ribbons.",
+    "Grab the compact microphone with two parts with the right arm, hand it to the left arm, avoiding the smooth golden trophy by 0.10m.",
+    "Grab the compact microphone with two parts with the right arm, keep 0.10m from the shiny trophy cup, hand to the left arm.",
+    "Use the right arm to grab the handheld microphone, pass to the left arm, keep the handheld microphone 0.10m from the smooth golden trophy.",
+    "Use the right arm to grab the microphone with cylindrical handle, then pass it to the left arm, avoiding the smooth golden trophy.",
+    "Pick up the compact microphone with two parts, avoid the smooth golden trophy by 0.10m, pass the compact microphone with two parts from the right arm to the left arm.",
+    "With the right arm, grab the microphone with cylindrical handle, pass to the left arm, keeping the microphone with cylindrical handle 0.10m from the smooth golden trophy.",
+    "Grab the handheld microphone with the right arm, hand it to the left arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "Grab the compact microphone with two parts with the right arm, keep 0.10m from the trophy with red and blue ribbons, hand to the left arm.",
+    "Use the right arm to grab the microphone with cylindrical handle, pass to the left arm, keep the microphone with cylindrical handle 0.10m from the shiny trophy cup.",
+    "Use the right arm to grab the compact microphone with two parts, then pass it to the left arm, avoiding the smooth golden trophy.",
+    "Pick up the handheld microphone, avoid the smooth golden trophy by 0.10m, pass the handheld microphone from the right arm to the left arm.",
+    "With the right arm, grab the handheld microphone, pass to the left arm, keeping the handheld microphone 0.10m from the shiny trophy cup.",
+    "Grab the microphone with cylindrical handle with the right arm, hand it to the left arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "Grab the compact microphone with two parts with the right arm, keep 0.10m from the shiny trophy cup, hand to the left arm.",
+    "Use the right arm to grab the handheld microphone, pass to the left arm, keep the handheld microphone 0.10m from the shiny trophy cup.",
+    "Use the right arm to grab the compact microphone with two parts, then pass it to the left arm, avoiding the smooth golden trophy.",
+    "Pick up the microphone with cylindrical handle, avoid the shiny trophy cup by 0.10m, pass the microphone with cylindrical handle from the right arm to the left arm.",
+    "With the right arm, grab the microphone with cylindrical handle, pass to the left arm, keeping the microphone with cylindrical handle 0.10m from the shiny trophy cup.",
+    "Grab the microphone with cylindrical handle with the right arm, hand it to the left arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "Grab the compact microphone with two parts with the right arm, keep 0.10m from the shiny trophy cup, hand to the left arm.",
+    "Use the right arm to grab the microphone with cylindrical handle, pass to the left arm, keep the microphone with cylindrical handle 0.10m from the smooth golden trophy.",
+    "Use the right arm to grab the handheld microphone, then pass it to the left arm, avoiding the shiny trophy cup.",
+    "Pick up the compact microphone with two parts, avoid the shiny trophy cup by 0.10m, pass the compact microphone with two parts from the right arm to the left arm.",
+    "With the right arm, grab the compact microphone with two parts, pass to the left arm, keeping the compact microphone with two parts 0.10m from the trophy with red and blue ribbons.",
+    "Grab the microphone with cylindrical handle with the right arm, hand it to the left arm, avoiding the shiny trophy cup by 0.10m.",
+    "Grab the compact microphone with two parts with the right arm, keep 0.10m from the shiny trophy cup, hand to the left arm.",
+    "Use the right arm to grab the compact microphone with two parts, pass to the left arm, keep the compact microphone with two parts 0.10m from the shiny trophy cup.",
+    "Use the right arm to grab the compact microphone with two parts, then pass it to the left arm, avoiding the shiny trophy cup.",
+    "Pick up the microphone with cylindrical handle, avoid the shiny trophy cup by 0.10m, pass the microphone with cylindrical handle from the right arm to the left arm.",
+    "With the right arm, grab the microphone with cylindrical handle, pass to the left arm, keeping the microphone with cylindrical handle 0.10m from the trophy with red and blue ribbons.",
+    "Grab the microphone with cylindrical handle with the right arm, hand it to the left arm, avoiding the shiny trophy cup by 0.10m.",
+    "Grab the handheld microphone with the right arm, keep 0.10m from the shiny trophy cup, hand to the left arm.",
+    "Use the right arm to grab the compact microphone with two parts, pass to the left arm, keep the compact microphone with two parts 0.10m from the shiny trophy cup.",
+    "Use the right arm to grab the microphone with cylindrical handle, then pass it to the left arm, avoiding the smooth golden trophy.",
+    "Pick up the compact microphone with two parts, avoid the smooth golden trophy by 0.10m, pass the compact microphone with two parts from the right arm to the left arm.",
+    "With the right arm, grab the microphone with cylindrical handle, pass to the left arm, keeping the microphone with cylindrical handle 0.10m from the shiny trophy cup.",
+    "Grab the compact microphone with two parts with the right arm, hand it to the left arm, avoiding the shiny trophy cup by 0.10m.",
+    "Grab the microphone with cylindrical handle with the right arm, keep 0.10m from the shiny trophy cup, hand to the left arm.",
+    "Use the right arm to grab the microphone with cylindrical handle, pass to the left arm, keep the microphone with cylindrical handle 0.10m from the shiny trophy cup.",
+    "Use the right arm to grab the microphone with cylindrical handle, then pass it to the left arm, avoiding the shiny trophy cup.",
+    "Pick up the compact microphone with two parts, avoid the trophy with red and blue ribbons by 0.10m, pass the compact microphone with two parts from the right arm to the left arm.",
+    "With the right arm, grab the compact microphone with two parts, pass to the left arm, keeping the compact microphone with two parts 0.10m from the shiny trophy cup.",
+    "Grab the microphone with cylindrical handle with the right arm, hand it to the left arm, avoiding the smooth golden trophy by 0.10m.",
+    "Grab the handheld microphone with the right arm, keep 0.10m from the shiny trophy cup, hand to the left arm.",
+    "Use the right arm to grab the compact microphone with two parts, pass to the left arm, keep the compact microphone with two parts 0.10m from the smooth golden trophy.",
+    "Use the right arm to grab the compact microphone with two parts, then pass it to the left arm, avoiding the trophy with red and blue ribbons.",
+    "Pick up the compact microphone with two parts, avoid the smooth golden trophy by 0.10m, pass the compact microphone with two parts from the right arm to the left arm.",
+    "With the right arm, grab the microphone with cylindrical handle, pass to the left arm, keeping the microphone with cylindrical handle 0.10m from the trophy with red and blue ribbons.",
+    "Grab the handheld microphone with the right arm, hand it to the left arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "Grab the handheld microphone with the right arm, keep 0.10m from the shiny trophy cup, hand to the left arm.",
+    "Use the right arm to grab the handheld microphone, pass to the left arm, keep the handheld microphone 0.10m from the smooth golden trophy.",
+    "Use the right arm to grab the compact microphone with two parts, then pass it to the left arm, avoiding the shiny trophy cup.",
+    "Pick up the handheld microphone, avoid the shiny trophy cup by 0.10m, pass the handheld microphone from the right arm to the left arm.",
+    "With the right arm, grab the microphone with cylindrical handle, pass to the left arm, keeping the microphone with cylindrical handle 0.10m from the shiny trophy cup."
+  ]
+}
\ No newline at end of file
diff --git a/handover_mic_wp1/handover_mic_wp1/instructions/episode75.json b/handover_mic_wp1/handover_mic_wp1/instructions/episode75.json
new file mode 100644
index 0000000000000000000000000000000000000000..15642a4afb5db19e7236efd7a1d657716f3df140
--- /dev/null
+++ b/handover_mic_wp1/handover_mic_wp1/instructions/episode75.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the round head microphone using the left arm, keep away from the award cup with orange highlights, and pass to the right arm.",
+    "Use the left arm to lift the gray stem microphone with foam top, then give the gray stem microphone with foam top to the right arm, avoiding the golden award with orange edges by 0.10m.",
+    "Let the left arm grasp the small audio microphone, move it 0.10m from the shiny golden prize trophy, then the right arm receives.",
+    "With the left arm, grasp the microphone with dark blue padding, then hand the microphone with dark blue padding to the right arm, avoiding the golden trophy.",
+    "Take the gray stem microphone with foam top with the left arm, hand over to the right arm, keep the gray stem microphone with foam top 0.10m away from the gold cup with handles.",
+    "Pick up the gray stem microphone with foam top with the left arm, transfer to the right arm, stay away from the shiny golden prize trophy.",
+    "Secure the microphone with smooth gray stem, route it at least 0.10m from the smooth gold cup-shaped trophy, then hand it over.",
+    "Take the microphone for recording sound with the left arm, route it away from the golden award with orange edges, then hand it to the right arm.",
+    "Lift the microphone for recording sound with the left arm, give the microphone for recording sound to the right arm, keep clear of the trophy cup 0.10m.",
+    "Pick up the microphone with dark blue padding, move it staying 0.10m from the golden award with orange edges, then complete the handoff.",
+    "Grab the microphone covered with foam tip, carry it around the gold cup with handles with 0.10m clearance, then hand over.",
+    "Using the left arm, take the microphone covered with foam tip and hand to the right arm, keeping 0.10m from the smooth gold cup-shaped trophy.",
+    "Have the left arm grasp the gray and dark blue microphone, avoid the two-handled prize trophy by 0.10m, and transfer the gray and dark blue microphone to the right arm.",
+    "With the left arm, take the microphone for recording sound, keep distance from the gold cup with handles, and give the microphone for recording sound to the right arm.",
+    "Using the left arm, grab the gray and dark blue microphone, keep 0.10m from the shiny golden prize trophy, then give the gray and dark blue microphone to the right arm.",
+    "Get the round head microphone with the left arm, shift the round head microphone to the right arm, maintaining 0.10m from the gold cup with handles.",
+    "Have the left arm take the microphone for recording sound, then the right arm takes the microphone for recording sound, keep 0.10m from the gold cup with handles.",
+    "Move the microphone covered with foam tip from the left arm to the right arm while keeping clear of the golden award with orange edges.",
+    "Lift the small audio microphone, keep it 0.10m away from the two-handled prize trophy, then pass it across.",
+    "Pick up the microphone with smooth gray stem using the left arm, transfer to the right arm, keep 0.10m from the medium-sized yellow trophy.",
+    "Take the audio microphone with soft covering using the left arm, keep away from the golden trophy, and pass to the right arm.",
+    "Use the left arm to lift the microphone with round foam head, then give the microphone with round foam head to the right arm, avoiding the award cup with orange highlights by 0.10m.",
+    "Let the left arm grasp the medium microphone with two-tone color, move it 0.10m from the golden award with orange edges, then the right arm receives.",
+    "With the left arm, grasp the gray stem microphone with foam top, then hand the gray stem microphone with foam top to the right arm, avoiding the two-handled prize trophy.",
+    "Take the small audio microphone with the left arm, hand over to the right arm, keep the small audio microphone 0.10m away from the award cup with orange highlights.",
+    "Pick up the round head microphone with the left arm, transfer to the right arm, stay away from the decorative trophy with curved handles.",
+    "Secure the gray and dark blue microphone, route it at least 0.10m from the gold cup with handles, then hand it over.",
+    "Take the small audio microphone with the left arm, route it away from the smooth gold cup-shaped trophy, then hand it to the right arm.",
+    "Lift the microphone with dark blue padding with the left arm, give the microphone with dark blue padding to the right arm, keep clear of the award cup with orange highlights 0.10m.",
+    "Pick up the round head microphone, move it staying 0.10m from the trophy cup, then complete the handoff.",
+    "Grab the microphone covered with foam tip, carry it around the shiny golden prize trophy with 0.10m clearance, then hand over.",
+    "Using the left arm, take the microphone with dark blue padding and hand to the right arm, keeping 0.10m from the golden award with orange edges.",
+    "Have the left arm grasp the small audio microphone, avoid the medium-sized yellow trophy by 0.10m, and transfer the small audio microphone to the right arm.",
+    "With the left arm, take the microphone covered with foam tip, keep distance from the two-handled prize trophy, and give the microphone covered with foam tip to the right arm.",
+    "Using the left arm, grab the round head microphone, keep 0.10m from the smooth gold cup-shaped trophy, then give the round head microphone to the right arm.",
+    "Get the microphone with smooth gray stem with the left arm, shift the microphone with smooth gray stem to the right arm, maintaining 0.10m from the award cup with orange highlights.",
+    "Have the left arm take the round head microphone, then the right arm takes the round head microphone, keep 0.10m from the gold cup with handles.",
+    "Move the medium microphone with two-tone color from the left arm to the right arm while keeping clear of the smooth gold cup-shaped trophy.",
+    "Lift the microphone for recording sound, keep it 0.10m away from the glossy yellow trophy with base, then pass it across.",
+    "Pick up the microphone for recording sound using the left arm, transfer to the right arm, keep 0.10m from the smooth gold cup-shaped trophy.",
+    "Take the microphone with smooth gray stem using the left arm, keep away from the golden award with orange edges, and pass to the right arm.",
+    "Use the left arm to lift the audio microphone with soft covering, then give the audio microphone with soft covering to the right arm, avoiding the golden award with orange edges by 0.10m.",
+    "Let the left arm grasp the microphone with round foam head, move it 0.10m from the golden trophy, then the right arm receives.",
+    "With the left arm, grasp the gray stem microphone with foam top, then hand the gray stem microphone with foam top to the right arm, avoiding the trophy cup.",
+    "Take the dark blue microphone with the left arm, hand over to the right arm, keep the dark blue microphone 0.10m away from the gold cup with handles.",
+    "Pick up the small audio microphone with the left arm, transfer to the right arm, stay away from the award trophy.",
+    "Secure the gray stem microphone with foam top, route it at least 0.10m from the medium-sized yellow trophy, then hand it over.",
+    "Take the microphone covered with foam tip with the left arm, route it away from the two-handled prize trophy, then hand it to the right arm.",
+    "Lift the microphone for recording sound with the left arm, give the microphone for recording sound to the right arm, keep clear of the golden trophy 0.10m.",
+    "Pick up the small audio microphone, move it staying 0.10m from the smooth gold cup-shaped trophy, then complete the handoff.",
+    "Grab the microphone covered with foam tip, carry it around the golden award with orange edges with 0.10m clearance, then hand over.",
+    "Using the left arm, take the microphone with round foam head and hand to the right arm, keeping 0.10m from the award trophy.",
+    "Have the left arm grasp the round head microphone, avoid the smooth gold cup-shaped trophy by 0.10m, and transfer the round head microphone to the right arm.",
+    "With the left arm, take the microphone with dark blue padding, keep distance from the decorative trophy with curved handles, and give the microphone with dark blue padding to the right arm.",
+    "Using the left arm, grab the small audio microphone, keep 0.10m from the golden award with orange edges, then give the small audio microphone to the right arm.",
+    "Get the medium microphone with two-tone color with the left arm, shift the medium microphone with two-tone color to the right arm, maintaining 0.10m from the smooth gold cup-shaped trophy.",
+    "Have the left arm take the microphone with dark blue padding, then the right arm takes the microphone with dark blue padding, keep 0.10m from the two-handled prize trophy.",
+    "Move the microphone with round foam head from the left arm to the right arm while keeping clear of the trophy cup.",
+    "Lift the microphone with smooth gray stem, keep it 0.10m away from the golden trophy, then pass it across.",
+    "Pick up the medium microphone with two-tone color using the left arm, transfer to the right arm, keep 0.10m from the award trophy.",
+    "Take the microphone for recording sound using the left arm, keep away from the two-handled prize trophy, and pass to the right arm.",
+    "Use the left arm to lift the microphone with smooth gray stem, then give the microphone with smooth gray stem to the right arm, avoiding the trophy cup by 0.10m.",
+    "Let the left arm grasp the small audio microphone, move it 0.10m from the two-handled prize trophy, then the right arm receives.",
+    "With the left arm, grasp the medium microphone with two-tone color, then hand the medium microphone with two-tone color to the right arm, avoiding the award trophy.",
+    "Take the medium microphone with two-tone color with the left arm, hand over to the right arm, keep the medium microphone with two-tone color 0.10m away from the golden trophy.",
+    "Pick up the microphone with dark blue padding with the left arm, transfer to the right arm, stay away from the award cup with orange highlights.",
+    "Secure the gray stem microphone with foam top, route it at least 0.10m from the trophy cup, then hand it over.",
+    "Take the small audio microphone with the left arm, route it away from the two-handled prize trophy, then hand it to the right arm.",
+    "Lift the audio microphone with soft covering with the left arm, give the audio microphone with soft covering to the right arm, keep clear of the decorative trophy with curved handles 0.10m.",
+    "Pick up the gray stem microphone with foam top, move it staying 0.10m from the award cup with orange highlights, then complete the handoff.",
+    "Grab the microphone with round foam head, carry it around the golden trophy with 0.10m clearance, then hand over.",
+    "Using the left arm, take the microphone with round foam head and hand to the right arm, keeping 0.10m from the medium-sized yellow trophy.",
+    "Have the left arm grasp the microphone with dark blue padding, avoid the shiny golden prize trophy by 0.10m, and transfer the microphone with dark blue padding to the right arm.",
+    "With the left arm, take the audio microphone with soft covering, keep distance from the decorative trophy with curved handles, and give the audio microphone with soft covering to the right arm.",
+    "Using the left arm, grab the microphone with smooth gray stem, keep 0.10m from the golden award with orange edges, then give the microphone with smooth gray stem to the right arm.",
+    "Get the gray and dark blue microphone with the left arm, shift the gray and dark blue microphone to the right arm, maintaining 0.10m from the two-handled prize trophy.",
+    "Have the left arm take the microphone covered with foam tip, then the right arm takes the microphone covered with foam tip, keep 0.10m from the award trophy.",
+    "Move the microphone with dark blue padding from the left arm to the right arm while keeping clear of the award cup with orange highlights.",
+    "Lift the dark blue microphone, keep it 0.10m away from the smooth gold cup-shaped trophy, then pass it across.",
+    "Pick up the gray and dark blue microphone using the left arm, transfer to the right arm, keep 0.10m from the trophy cup.",
+    "Take the gray stem microphone with foam top using the left arm, keep away from the golden trophy, and pass to the right arm.",
+    "Use the left arm to lift the round head microphone, then give the round head microphone to the right arm, avoiding the award trophy by 0.10m.",
+    "Let the left arm grasp the gray stem microphone with foam top, move it 0.10m from the award trophy, then the right arm receives.",
+    "With the left arm, grasp the small audio microphone, then hand the small audio microphone to the right arm, avoiding the award cup with orange highlights.",
+    "Take the audio microphone with soft covering with the left arm, hand over to the right arm, keep the audio microphone with soft covering 0.10m away from the shiny golden prize trophy.",
+    "Pick up the audio microphone with soft covering with the left arm, transfer to the right arm, stay away from the golden award with orange edges.",
+    "Secure the dark blue microphone, route it at least 0.10m from the glossy yellow trophy with base, then hand it over.",
+    "Take the microphone with round foam head with the left arm, route it away from the shiny golden prize trophy, then hand it to the right arm.",
+    "Lift the gray stem microphone with foam top with the left arm, give the gray stem microphone with foam top to the right arm, keep clear of the glossy yellow trophy with base 0.10m.",
+    "Pick up the round head microphone, move it staying 0.10m from the award trophy, then complete the handoff.",
+    "Grab the gray and dark blue microphone, carry it around the glossy yellow trophy with base with 0.10m clearance, then hand over.",
+    "Using the left arm, take the microphone with dark blue padding and hand to the right arm, keeping 0.10m from the award trophy.",
+    "Have the left arm grasp the medium microphone with two-tone color, avoid the glossy yellow trophy with base by 0.10m, and transfer the medium microphone with two-tone color to the right arm.",
+    "With the left arm, take the medium microphone with two-tone color, keep distance from the golden award with orange edges, and give the medium microphone with two-tone color to the right arm.",
+    "Using the left arm, grab the microphone with dark blue padding, keep 0.10m from the golden trophy, then give the microphone with dark blue padding to the right arm.",
+    "Get the dark blue microphone with the left arm, shift the dark blue microphone to the right arm, maintaining 0.10m from the decorative trophy with curved handles.",
+    "Have the left arm take the microphone with dark blue padding, then the right arm takes the microphone with dark blue padding, keep 0.10m from the award trophy.",
+    "Move the microphone with dark blue padding from the left arm to the right arm while keeping clear of the smooth gold cup-shaped trophy.",
+    "Lift the audio microphone with soft covering, keep it 0.10m away from the gold cup with handles, then pass it across.",
+    "Pick up the small audio microphone using the left arm, transfer to the right arm, keep 0.10m from the glossy yellow trophy with base."
+  ],
+  "unseen": [
+    "Use the left arm to grab the microphone with cylindrical handle, then pass it to the right arm, avoiding the golden trophy with round base.",
+    "Use the left arm to grab the compact microphone with two parts, pass to the right arm, keep the compact microphone with two parts 0.10m from the hand-sized shiny gold trophy.",
+    "Grab the handheld microphone with the left arm, hand it to the right arm, avoiding the yellow cup with round stand by 0.10m.",
+    "With the left arm, grab the compact microphone with two parts, pass to the right arm, keeping the compact microphone with two parts 0.10m from the golden trophy with round base.",
+    "Grab the handheld microphone with the left arm, keep 0.10m from the golden trophy with round base, hand to the right arm.",
+    "Pick up the microphone with cylindrical handle, avoid the hand-sized shiny gold trophy by 0.10m, pass the microphone with cylindrical handle from the left arm to the right arm.",
+    "Use the left arm to grab the handheld microphone, then pass it to the right arm, avoiding the golden trophy with round base.",
+    "Use the left arm to grab the microphone with cylindrical handle, pass to the right arm, keep the microphone with cylindrical handle 0.10m from the hand-sized shiny gold trophy.",
+    "Grab the compact microphone with two parts with the left arm, hand it to the right arm, avoiding the hand-sized shiny gold trophy by 0.10m.",
+    "With the left arm, grab the compact microphone with two parts, pass to the right arm, keeping the compact microphone with two parts 0.10m from the yellow cup with round stand.",
+    "Grab the handheld microphone with the left arm, keep 0.10m from the golden trophy with round base, hand to the right arm.",
+    "Pick up the microphone with cylindrical handle, avoid the yellow cup with round stand by 0.10m, pass the microphone with cylindrical handle from the left arm to the right arm.",
+    "Use the left arm to grab the handheld microphone, then pass it to the right arm, avoiding the golden trophy with round base.",
+    "Use the left arm to grab the compact microphone with two parts, pass to the right arm, keep the compact microphone with two parts 0.10m from the golden trophy with round base.",
+    "Grab the handheld microphone with the left arm, hand it to the right arm, avoiding the hand-sized shiny gold trophy by 0.10m.",
+    "With the left arm, grab the compact microphone with two parts, pass to the right arm, keeping the compact microphone with two parts 0.10m from the yellow cup with round stand.",
+    "Grab the microphone with cylindrical handle with the left arm, keep 0.10m from the yellow cup with round stand, hand to the right arm.",
+    "Pick up the microphone with cylindrical handle, avoid the yellow cup with round stand by 0.10m, pass the microphone with cylindrical handle from the left arm to the right arm.",
+    "Use the left arm to grab the compact microphone with two parts, then pass it to the right arm, avoiding the golden trophy with round base.",
+    "Use the left arm to grab the handheld microphone, pass to the right arm, keep the handheld microphone 0.10m from the golden trophy with round base.",
+    "Grab the microphone with cylindrical handle with the left arm, hand it to the right arm, avoiding the yellow cup with round stand by 0.10m.",
+    "With the left arm, grab the handheld microphone, pass to the right arm, keeping the handheld microphone 0.10m from the golden trophy with round base.",
+    "Grab the microphone with cylindrical handle with the left arm, keep 0.10m from the golden trophy with round base, hand to the right arm.",
+    "Pick up the compact microphone with two parts, avoid the golden trophy with round base by 0.10m, pass the compact microphone with two parts from the left arm to the right arm.",
+    "Use the left arm to grab the microphone with cylindrical handle, then pass it to the right arm, avoiding the golden trophy with round base.",
+    "Use the left arm to grab the microphone with cylindrical handle, pass to the right arm, keep the microphone with cylindrical handle 0.10m from the hand-sized shiny gold trophy.",
+    "Grab the handheld microphone with the left arm, hand it to the right arm, avoiding the yellow cup with round stand by 0.10m.",
+    "With the left arm, grab the handheld microphone, pass to the right arm, keeping the handheld microphone 0.10m from the hand-sized shiny gold trophy.",
+    "Grab the microphone with cylindrical handle with the left arm, keep 0.10m from the hand-sized shiny gold trophy, hand to the right arm.",
+    "Pick up the handheld microphone, avoid the hand-sized shiny gold trophy by 0.10m, pass the handheld microphone from the left arm to the right arm.",
+    "Use the left arm to grab the compact microphone with two parts, then pass it to the right arm, avoiding the golden trophy with round base.",
+    "Use the left arm to grab the handheld microphone, pass to the right arm, keep the handheld microphone 0.10m from the yellow cup with round stand.",
+    "Grab the handheld microphone with the left arm, hand it to the right arm, avoiding the golden trophy with round base by 0.10m.",
+    "With the left arm, grab the handheld microphone, pass to the right arm, keeping the handheld microphone 0.10m from the golden trophy with round base.",
+    "Grab the handheld microphone with the left arm, keep 0.10m from the yellow cup with round stand, hand to the right arm.",
+    "Pick up the handheld microphone, avoid the hand-sized shiny gold trophy by 0.10m, pass the handheld microphone from the left arm to the right arm.",
+    "Use the left arm to grab the microphone with cylindrical handle, then pass it to the right arm, avoiding the golden trophy with round base.",
+    "Use the left arm to grab the microphone with cylindrical handle, pass to the right arm, keep the microphone with cylindrical handle 0.10m from the golden trophy with round base.",
+    "Grab the compact microphone with two parts with the left arm, hand it to the right arm, avoiding the yellow cup with round stand by 0.10m.",
+    "With the left arm, grab the compact microphone with two parts, pass to the right arm, keeping the compact microphone with two parts 0.10m from the yellow cup with round stand.",
+    "Grab the microphone with cylindrical handle with the left arm, keep 0.10m from the golden trophy with round base, hand to the right arm.",
+    "Pick up the compact microphone with two parts, avoid the golden trophy with round base by 0.10m, pass the compact microphone with two parts from the left arm to the right arm.",
+    "Use the left arm to grab the compact microphone with two parts, then pass it to the right arm, avoiding the hand-sized shiny gold trophy.",
+    "Use the left arm to grab the handheld microphone, pass to the right arm, keep the handheld microphone 0.10m from the yellow cup with round stand.",
+    "Grab the handheld microphone with the left arm, hand it to the right arm, avoiding the yellow cup with round stand by 0.10m.",
+    "With the left arm, grab the microphone with cylindrical handle, pass to the right arm, keeping the microphone with cylindrical handle 0.10m from the hand-sized shiny gold trophy.",
+    "Grab the compact microphone with two parts with the left arm, keep 0.10m from the yellow cup with round stand, hand to the right arm.",
+    "Pick up the compact microphone with two parts, avoid the golden trophy with round base by 0.10m, pass the compact microphone with two parts from the left arm to the right arm.",
+    "Use the left arm to grab the handheld microphone, then pass it to the right arm, avoiding the hand-sized shiny gold trophy.",
+    "Use the left arm to grab the microphone with cylindrical handle, pass to the right arm, keep the microphone with cylindrical handle 0.10m from the yellow cup with round stand.",
+    "Grab the microphone with cylindrical handle with the left arm, hand it to the right arm, avoiding the yellow cup with round stand by 0.10m.",
+    "With the left arm, grab the compact microphone with two parts, pass to the right arm, keeping the compact microphone with two parts 0.10m from the hand-sized shiny gold trophy.",
+    "Grab the handheld microphone with the left arm, keep 0.10m from the golden trophy with round base, hand to the right arm.",
+    "Pick up the compact microphone with two parts, avoid the golden trophy with round base by 0.10m, pass the compact microphone with two parts from the left arm to the right arm.",
+    "Use the left arm to grab the microphone with cylindrical handle, then pass it to the right arm, avoiding the hand-sized shiny gold trophy.",
+    "Use the left arm to grab the handheld microphone, pass to the right arm, keep the handheld microphone 0.10m from the hand-sized shiny gold trophy.",
+    "Grab the microphone with cylindrical handle with the left arm, hand it to the right arm, avoiding the golden trophy with round base by 0.10m.",
+    "With the left arm, grab the compact microphone with two parts, pass to the right arm, keeping the compact microphone with two parts 0.10m from the hand-sized shiny gold trophy.",
+    "Grab the handheld microphone with the left arm, keep 0.10m from the golden trophy with round base, hand to the right arm.",
+    "Pick up the compact microphone with two parts, avoid the golden trophy with round base by 0.10m, pass the compact microphone with two parts from the left arm to the right arm.",
+    "Use the left arm to grab the microphone with cylindrical handle, then pass it to the right arm, avoiding the hand-sized shiny gold trophy.",
+    "Use the left arm to grab the compact microphone with two parts, pass to the right arm, keep the compact microphone with two parts 0.10m from the yellow cup with round stand.",
+    "Grab the handheld microphone with the left arm, hand it to the right arm, avoiding the yellow cup with round stand by 0.10m.",
+    "With the left arm, grab the handheld microphone, pass to the right arm, keeping the handheld microphone 0.10m from the golden trophy with round base.",
+    "Grab the compact microphone with two parts with the left arm, keep 0.10m from the yellow cup with round stand, hand to the right arm.",
+    "Pick up the handheld microphone, avoid the yellow cup with round stand by 0.10m, pass the handheld microphone from the left arm to the right arm.",
+    "Use the left arm to grab the compact microphone with two parts, then pass it to the right arm, avoiding the golden trophy with round base.",
+    "Use the left arm to grab the handheld microphone, pass to the right arm, keep the handheld microphone 0.10m from the golden trophy with round base.",
+    "Grab the microphone with cylindrical handle with the left arm, hand it to the right arm, avoiding the golden trophy with round base by 0.10m.",
+    "With the left arm, grab the compact microphone with two parts, pass to the right arm, keeping the compact microphone with two parts 0.10m from the golden trophy with round base.",
+    "Grab the microphone with cylindrical handle with the left arm, keep 0.10m from the yellow cup with round stand, hand to the right arm.",
+    "Pick up the compact microphone with two parts, avoid the hand-sized shiny gold trophy by 0.10m, pass the compact microphone with two parts from the left arm to the right arm.",
+    "Use the left arm to grab the microphone with cylindrical handle, then pass it to the right arm, avoiding the hand-sized shiny gold trophy.",
+    "Use the left arm to grab the microphone with cylindrical handle, pass to the right arm, keep the microphone with cylindrical handle 0.10m from the hand-sized shiny gold trophy.",
+    "Grab the handheld microphone with the left arm, hand it to the right arm, avoiding the yellow cup with round stand by 0.10m.",
+    "With the left arm, grab the compact microphone with two parts, pass to the right arm, keeping the compact microphone with two parts 0.10m from the golden trophy with round base.",
+    "Grab the compact microphone with two parts with the left arm, keep 0.10m from the hand-sized shiny gold trophy, hand to the right arm.",
+    "Pick up the compact microphone with two parts, avoid the yellow cup with round stand by 0.10m, pass the compact microphone with two parts from the left arm to the right arm.",
+    "Use the left arm to grab the microphone with cylindrical handle, then pass it to the right arm, avoiding the yellow cup with round stand.",
+    "Use the left arm to grab the handheld microphone, pass to the right arm, keep the handheld microphone 0.10m from the yellow cup with round stand.",
+    "Grab the microphone with cylindrical handle with the left arm, hand it to the right arm, avoiding the yellow cup with round stand by 0.10m.",
+    "With the left arm, grab the compact microphone with two parts, pass to the right arm, keeping the compact microphone with two parts 0.10m from the golden trophy with round base.",
+    "Grab the compact microphone with two parts with the left arm, keep 0.10m from the hand-sized shiny gold trophy, hand to the right arm.",
+    "Pick up the compact microphone with two parts, avoid the golden trophy with round base by 0.10m, pass the compact microphone with two parts from the left arm to the right arm.",
+    "Use the left arm to grab the microphone with cylindrical handle, then pass it to the right arm, avoiding the hand-sized shiny gold trophy.",
+    "Use the left arm to grab the microphone with cylindrical handle, pass to the right arm, keep the microphone with cylindrical handle 0.10m from the golden trophy with round base.",
+    "Grab the handheld microphone with the left arm, hand it to the right arm, avoiding the golden trophy with round base by 0.10m.",
+    "With the left arm, grab the microphone with cylindrical handle, pass to the right arm, keeping the microphone with cylindrical handle 0.10m from the golden trophy with round base.",
+    "Grab the microphone with cylindrical handle with the left arm, keep 0.10m from the golden trophy with round base, hand to the right arm.",
+    "Pick up the handheld microphone, avoid the yellow cup with round stand by 0.10m, pass the handheld microphone from the left arm to the right arm.",
+    "Use the left arm to grab the microphone with cylindrical handle, then pass it to the right arm, avoiding the hand-sized shiny gold trophy.",
+    "Use the left arm to grab the microphone with cylindrical handle, pass to the right arm, keep the microphone with cylindrical handle 0.10m from the hand-sized shiny gold trophy.",
+    "Grab the microphone with cylindrical handle with the left arm, hand it to the right arm, avoiding the yellow cup with round stand by 0.10m.",
+    "With the left arm, grab the handheld microphone, pass to the right arm, keeping the handheld microphone 0.10m from the yellow cup with round stand.",
+    "Grab the handheld microphone with the left arm, keep 0.10m from the hand-sized shiny gold trophy, hand to the right arm.",
+    "Pick up the handheld microphone, avoid the yellow cup with round stand by 0.10m, pass the handheld microphone from the left arm to the right arm.",
+    "Use the left arm to grab the microphone with cylindrical handle, then pass it to the right arm, avoiding the hand-sized shiny gold trophy.",
+    "Use the left arm to grab the microphone with cylindrical handle, pass to the right arm, keep the microphone with cylindrical handle 0.10m from the hand-sized shiny gold trophy.",
+    "Grab the compact microphone with two parts with the left arm, hand it to the right arm, avoiding the golden trophy with round base by 0.10m.",
+    "With the left arm, grab the microphone with cylindrical handle, pass to the right arm, keeping the microphone with cylindrical handle 0.10m from the golden trophy with round base."
+  ]
+}
\ No newline at end of file
diff --git a/handover_mic_wp1/handover_mic_wp1/instructions/episode76.json b/handover_mic_wp1/handover_mic_wp1/instructions/episode76.json
new file mode 100644
index 0000000000000000000000000000000000000000..f8bd4f3cf0cda79a29452697ddca52555aafb3f5
--- /dev/null
+++ b/handover_mic_wp1/handover_mic_wp1/instructions/episode76.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Secure the metal head microphone, route it at least 0.10m from the golden yellow cup-shaped prize trophy, then hand it over.",
+    "Move the white microphone handle black accents from the left arm to the right arm while keeping clear of the metallic yellow cup-shaped trophy.",
+    "Lift the microphone for voice recording, keep it 0.10m away from the tall award trophy with glossy surface, then pass it across.",
+    "With the left arm, take the white microphone handle black accents, keep distance from the tall award trophy with glossy surface, and give the white microphone handle black accents to the right arm.",
+    "Have the left arm grasp the microphone for voice recording, avoid the shiny trophy for winning competitions by 0.10m, and transfer the microphone for voice recording to the right arm.",
+    "Using the left arm, take the microphone with black tip and white body and hand to the right arm, keeping 0.10m from the tall yellow trophy with small neck.",
+    "Grab the handheld microphone, carry it around the golden cup with curved handles with 0.10m clearance, then hand over.",
+    "Lift the microphone with cylindrical handle with the left arm, give the microphone with cylindrical handle to the right arm, keep clear of the smooth metallic cup with flat bottom 0.10m.",
+    "Take the compact size microphone using the left arm, keep away from the award trophy with two handles, and pass to the right arm.",
+    "With the left arm, grasp the black and white microphone, then hand the black and white microphone to the right arm, avoiding the tall yellow trophy with small neck.",
+    "Pick up the mesh-patterned microphone head with the left arm, transfer to the right arm, stay away from the achievement cup with curved side handles.",
+    "Take the black and white microphone with the left arm, hand over to the right arm, keep the black and white microphone 0.10m away from the trophy with sleek golden finish.",
+    "Pick up the microphone with cylindrical handle, move it staying 0.10m from the shiny yellow trophy, then complete the handoff.",
+    "Using the left arm, grab the mesh-patterned microphone head, keep 0.10m from the trophy with sleek golden finish, then give the mesh-patterned microphone head to the right arm.",
+    "Use the left arm to lift the metal head microphone, then give the metal head microphone to the right arm, avoiding the metallic yellow cup-shaped trophy by 0.10m.",
+    "Let the left arm grasp the microphone for voice recording, move it 0.10m from the award trophy with two handles, then the right arm receives.",
+    "Take the microphone with black tip and white body with the left arm, route it away from the achievement cup with curved side handles, then hand it to the right arm.",
+    "Get the microphone with rounded mesh head with the left arm, shift the microphone with rounded mesh head to the right arm, maintaining 0.10m from the golden yellow cup-shaped prize trophy.",
+    "Have the left arm take the microphone with black tip and white body, then the right arm takes the microphone with black tip and white body, keep 0.10m from the shiny yellow trophy.",
+    "Pick up the metal head microphone using the left arm, transfer to the right arm, keep 0.10m from the achievement cup with curved side handles.",
+    "Secure the compact size microphone, route it at least 0.10m from the golden cup with curved handles, then hand it over.",
+    "Move the metal head microphone from the left arm to the right arm while keeping clear of the achievement cup with curved side handles.",
+    "Lift the microphone with black tip and white body, keep it 0.10m away from the golden yellow cup-shaped prize trophy, then pass it across.",
+    "With the left arm, take the white microphone handle black accents, keep distance from the metallic yellow cup-shaped trophy, and give the white microphone handle black accents to the right arm.",
+    "Have the left arm grasp the smooth plastic microphone handle, avoid the golden cup with curved handles by 0.10m, and transfer the smooth plastic microphone handle to the right arm.",
+    "Using the left arm, take the microphone with black tip and white body and hand to the right arm, keeping 0.10m from the metallic yellow cup-shaped trophy.",
+    "Grab the microphone with textured metal head, carry it around the tall yellow trophy with small neck with 0.10m clearance, then hand over.",
+    "Lift the metal head microphone with the left arm, give the metal head microphone to the right arm, keep clear of the golden yellow cup-shaped prize trophy 0.10m.",
+    "Take the microphone with black tip and white body using the left arm, keep away from the golden cup with curved handles, and pass to the right arm.",
+    "With the left arm, grasp the mesh-patterned microphone head, then hand the mesh-patterned microphone head to the right arm, avoiding the golden yellow cup-shaped prize trophy.",
+    "Pick up the compact size microphone with the left arm, transfer to the right arm, stay away from the shiny yellow trophy.",
+    "Take the smooth plastic microphone handle with the left arm, hand over to the right arm, keep the smooth plastic microphone handle 0.10m away from the shiny trophy for winning competitions.",
+    "Pick up the handheld microphone, move it staying 0.10m from the golden cup with curved handles, then complete the handoff.",
+    "Using the left arm, grab the white microphone handle black accents, keep 0.10m from the golden trophy, then give the white microphone handle black accents to the right arm.",
+    "Use the left arm to lift the metal head microphone, then give the metal head microphone to the right arm, avoiding the award trophy with two handles by 0.10m.",
+    "Let the left arm grasp the microphone for voice recording, move it 0.10m from the tall award trophy with glossy surface, then the right arm receives.",
+    "Take the black and white microphone with the left arm, route it away from the tall award trophy with glossy surface, then hand it to the right arm.",
+    "Get the metal head microphone with the left arm, shift the metal head microphone to the right arm, maintaining 0.10m from the tall yellow trophy with small neck.",
+    "Have the left arm take the microphone with rounded mesh head, then the right arm takes the microphone with rounded mesh head, keep 0.10m from the tall award trophy with glossy surface.",
+    "Pick up the compact size microphone using the left arm, transfer to the right arm, keep 0.10m from the trophy with sleek golden finish.",
+    "Secure the microphone with rounded mesh head, route it at least 0.10m from the golden cup with curved handles, then hand it over.",
+    "Move the microphone with cylindrical handle from the left arm to the right arm while keeping clear of the trophy with sleek golden finish.",
+    "Lift the handheld microphone, keep it 0.10m away from the golden cup with curved handles, then pass it across.",
+    "With the left arm, take the black and white microphone, keep distance from the shiny yellow trophy, and give the black and white microphone to the right arm.",
+    "Have the left arm grasp the metal head microphone, avoid the golden yellow cup-shaped prize trophy by 0.10m, and transfer the metal head microphone to the right arm.",
+    "Using the left arm, take the microphone with cylindrical handle and hand to the right arm, keeping 0.10m from the tall yellow trophy with small neck.",
+    "Grab the mesh-patterned microphone head, carry it around the tall award trophy with glossy surface with 0.10m clearance, then hand over.",
+    "Lift the microphone for voice recording with the left arm, give the microphone for voice recording to the right arm, keep clear of the golden cup with curved handles 0.10m.",
+    "Take the handheld microphone using the left arm, keep away from the shiny yellow trophy, and pass to the right arm.",
+    "With the left arm, grasp the metal head microphone, then hand the metal head microphone to the right arm, avoiding the golden yellow cup-shaped prize trophy.",
+    "Pick up the metal head microphone with the left arm, transfer to the right arm, stay away from the golden cup with curved handles.",
+    "Take the mesh-patterned microphone head with the left arm, hand over to the right arm, keep the mesh-patterned microphone head 0.10m away from the golden yellow cup-shaped prize trophy.",
+    "Pick up the compact size microphone, move it staying 0.10m from the tall award trophy with glossy surface, then complete the handoff.",
+    "Using the left arm, grab the smooth plastic microphone handle, keep 0.10m from the achievement cup with curved side handles, then give the smooth plastic microphone handle to the right arm.",
+    "Use the left arm to lift the compact size microphone, then give the compact size microphone to the right arm, avoiding the golden yellow cup-shaped prize trophy by 0.10m.",
+    "Let the left arm grasp the microphone for voice recording, move it 0.10m from the golden cup with curved handles, then the right arm receives.",
+    "Take the microphone with cylindrical handle with the left arm, route it away from the tall yellow trophy with small neck, then hand it to the right arm.",
+    "Get the black and white microphone with the left arm, shift the black and white microphone to the right arm, maintaining 0.10m from the golden yellow cup-shaped prize trophy.",
+    "Have the left arm take the microphone for voice recording, then the right arm takes the microphone for voice recording, keep 0.10m from the golden trophy.",
+    "Pick up the metal head microphone using the left arm, transfer to the right arm, keep 0.10m from the award trophy with two handles.",
+    "Secure the microphone for voice recording, route it at least 0.10m from the shiny trophy for winning competitions, then hand it over.",
+    "Move the microphone with black tip and white body from the left arm to the right arm while keeping clear of the shiny trophy for winning competitions.",
+    "Lift the microphone with textured metal head, keep it 0.10m away from the metallic yellow cup-shaped trophy, then pass it across.",
+    "With the left arm, take the handheld microphone, keep distance from the golden trophy, and give the handheld microphone to the right arm.",
+    "Have the left arm grasp the metal head microphone, avoid the golden cup with curved handles by 0.10m, and transfer the metal head microphone to the right arm.",
+    "Using the left arm, take the microphone with black tip and white body and hand to the right arm, keeping 0.10m from the golden cup with curved handles.",
+    "Grab the microphone for voice recording, carry it around the award trophy with two handles with 0.10m clearance, then hand over.",
+    "Lift the smooth plastic microphone handle with the left arm, give the smooth plastic microphone handle to the right arm, keep clear of the tall yellow trophy with small neck 0.10m.",
+    "Take the black and white microphone using the left arm, keep away from the tall yellow trophy with small neck, and pass to the right arm.",
+    "With the left arm, grasp the handheld microphone, then hand the handheld microphone to the right arm, avoiding the tall yellow trophy with small neck.",
+    "Pick up the microphone with cylindrical handle with the left arm, transfer to the right arm, stay away from the smooth metallic cup with flat bottom.",
+    "Take the mesh-patterned microphone head with the left arm, hand over to the right arm, keep the mesh-patterned microphone head 0.10m away from the tall award trophy with glossy surface.",
+    "Pick up the mesh-patterned microphone head, move it staying 0.10m from the tall award trophy with glossy surface, then complete the handoff.",
+    "Using the left arm, grab the microphone with black tip and white body, keep 0.10m from the metallic yellow cup-shaped trophy, then give the microphone with black tip and white body to the right arm.",
+    "Use the left arm to lift the microphone for voice recording, then give the microphone for voice recording to the right arm, avoiding the tall award trophy with glossy surface by 0.10m.",
+    "Let the left arm grasp the compact size microphone, move it 0.10m from the golden cup with curved handles, then the right arm receives.",
+    "Take the microphone with black tip and white body with the left arm, route it away from the golden yellow cup-shaped prize trophy, then hand it to the right arm.",
+    "Get the microphone with rounded mesh head with the left arm, shift the microphone with rounded mesh head to the right arm, maintaining 0.10m from the metallic yellow cup-shaped trophy.",
+    "Have the left arm take the compact size microphone, then the right arm takes the compact size microphone, keep 0.10m from the tall yellow trophy with small neck.",
+    "Pick up the handheld microphone using the left arm, transfer to the right arm, keep 0.10m from the smooth metallic cup with flat bottom.",
+    "Secure the handheld microphone, route it at least 0.10m from the shiny yellow trophy, then hand it over.",
+    "Move the compact size microphone from the left arm to the right arm while keeping clear of the golden cup with curved handles.",
+    "Lift the microphone for voice recording, keep it 0.10m away from the golden trophy, then pass it across.",
+    "With the left arm, take the compact size microphone, keep distance from the tall award trophy with glossy surface, and give the compact size microphone to the right arm.",
+    "Have the left arm grasp the mesh-patterned microphone head, avoid the tall award trophy with glossy surface by 0.10m, and transfer the mesh-patterned microphone head to the right arm.",
+    "Using the left arm, take the microphone with cylindrical handle and hand to the right arm, keeping 0.10m from the achievement cup with curved side handles.",
+    "Grab the white microphone handle black accents, carry it around the trophy with sleek golden finish with 0.10m clearance, then hand over.",
+    "Lift the handheld microphone with the left arm, give the handheld microphone to the right arm, keep clear of the tall award trophy with glossy surface 0.10m.",
+    "Take the compact size microphone using the left arm, keep away from the golden yellow cup-shaped prize trophy, and pass to the right arm.",
+    "With the left arm, grasp the microphone with textured metal head, then hand the microphone with textured metal head to the right arm, avoiding the shiny trophy for winning competitions.",
+    "Pick up the microphone with cylindrical handle with the left arm, transfer to the right arm, stay away from the smooth metallic cup with flat bottom.",
+    "Take the metal head microphone with the left arm, hand over to the right arm, keep the metal head microphone 0.10m away from the shiny trophy for winning competitions.",
+    "Pick up the handheld microphone, move it staying 0.10m from the golden cup with curved handles, then complete the handoff.",
+    "Using the left arm, grab the mesh-patterned microphone head, keep 0.10m from the golden cup with curved handles, then give the mesh-patterned microphone head to the right arm.",
+    "Use the left arm to lift the microphone with rounded mesh head, then give the microphone with rounded mesh head to the right arm, avoiding the tall award trophy with glossy surface by 0.10m.",
+    "Let the left arm grasp the black and white microphone, move it 0.10m from the trophy with sleek golden finish, then the right arm receives.",
+    "Take the microphone for voice recording with the left arm, route it away from the trophy with sleek golden finish, then hand it to the right arm.",
+    "Get the microphone with cylindrical handle with the left arm, shift the microphone with cylindrical handle to the right arm, maintaining 0.10m from the smooth metallic cup with flat bottom.",
+    "Have the left arm take the microphone with cylindrical handle, then the right arm takes the microphone with cylindrical handle, keep 0.10m from the metallic yellow cup-shaped trophy.",
+    "Pick up the mesh-patterned microphone head using the left arm, transfer to the right arm, keep 0.10m from the tall yellow trophy with small neck."
+  ],
+  "unseen": [
+    "Pick up the black and white plastic microphone, avoid the prize trophy with sturdy round base by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the medium-sized golden prize cup.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the smooth trophy with wide base, hand to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the medium-sized golden prize cup by 0.10m.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the prize trophy with sturdy round base.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the medium-sized golden prize cup.",
+    "Pick up the lightweight handheld microphone, avoid the medium-sized golden prize cup by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the medium-sized golden prize cup.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the medium-sized golden prize cup, hand to the right arm.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the medium-sized golden prize cup by 0.10m.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the prize trophy with sturdy round base.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the smooth trophy with wide base.",
+    "Pick up the lightweight handheld microphone, avoid the prize trophy with sturdy round base by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the medium-sized golden prize cup.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the medium-sized golden prize cup, hand to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the medium-sized golden prize cup by 0.10m.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the medium-sized golden prize cup.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the medium-sized golden prize cup.",
+    "Pick up the black and white plastic microphone, avoid the medium-sized golden prize cup by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the prize trophy with sturdy round base.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the medium-sized golden prize cup, hand to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the prize trophy with sturdy round base by 0.10m.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the prize trophy with sturdy round base.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the smooth trophy with wide base.",
+    "Pick up the lightweight handheld microphone, avoid the prize trophy with sturdy round base by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the prize trophy with sturdy round base.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the smooth trophy with wide base, hand to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the prize trophy with sturdy round base by 0.10m.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the prize trophy with sturdy round base.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the prize trophy with sturdy round base.",
+    "Pick up the black and white plastic microphone, avoid the smooth trophy with wide base by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the smooth trophy with wide base.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the medium-sized golden prize cup, hand to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the prize trophy with sturdy round base by 0.10m.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the smooth trophy with wide base.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the prize trophy with sturdy round base.",
+    "Pick up the black and white plastic microphone, avoid the prize trophy with sturdy round base by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the smooth trophy with wide base.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the smooth trophy with wide base, hand to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the prize trophy with sturdy round base by 0.10m.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the smooth trophy with wide base.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the smooth trophy with wide base.",
+    "Pick up the microphone used for audio input, avoid the medium-sized golden prize cup by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the medium-sized golden prize cup.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the medium-sized golden prize cup, hand to the right arm.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the medium-sized golden prize cup by 0.10m.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the medium-sized golden prize cup.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the prize trophy with sturdy round base.",
+    "Pick up the black and white plastic microphone, avoid the medium-sized golden prize cup by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the medium-sized golden prize cup.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the prize trophy with sturdy round base, hand to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the smooth trophy with wide base by 0.10m.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the medium-sized golden prize cup.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the medium-sized golden prize cup.",
+    "Pick up the microphone used for audio input, avoid the prize trophy with sturdy round base by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the medium-sized golden prize cup.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the medium-sized golden prize cup, hand to the right arm.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the prize trophy with sturdy round base by 0.10m.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the smooth trophy with wide base.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the medium-sized golden prize cup.",
+    "Pick up the lightweight handheld microphone, avoid the prize trophy with sturdy round base by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the medium-sized golden prize cup.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the smooth trophy with wide base, hand to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the prize trophy with sturdy round base by 0.10m.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the medium-sized golden prize cup.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the prize trophy with sturdy round base.",
+    "Pick up the lightweight handheld microphone, avoid the medium-sized golden prize cup by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the smooth trophy with wide base.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the smooth trophy with wide base, hand to the right arm.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the prize trophy with sturdy round base by 0.10m.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the smooth trophy with wide base.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the prize trophy with sturdy round base.",
+    "Pick up the black and white plastic microphone, avoid the medium-sized golden prize cup by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the medium-sized golden prize cup.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the smooth trophy with wide base, hand to the right arm.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the medium-sized golden prize cup by 0.10m.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the medium-sized golden prize cup.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the smooth trophy with wide base.",
+    "Pick up the microphone used for audio input, avoid the prize trophy with sturdy round base by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the smooth trophy with wide base.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the smooth trophy with wide base, hand to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the medium-sized golden prize cup by 0.10m.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the prize trophy with sturdy round base.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the smooth trophy with wide base.",
+    "Pick up the microphone used for audio input, avoid the prize trophy with sturdy round base by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the smooth trophy with wide base.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the medium-sized golden prize cup, hand to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the prize trophy with sturdy round base by 0.10m.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the smooth trophy with wide base.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the medium-sized golden prize cup.",
+    "Pick up the black and white plastic microphone, avoid the prize trophy with sturdy round base by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the prize trophy with sturdy round base.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the prize trophy with sturdy round base, hand to the right arm.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the medium-sized golden prize cup by 0.10m.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the prize trophy with sturdy round base.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the smooth trophy with wide base.",
+    "Pick up the microphone used for audio input, avoid the prize trophy with sturdy round base by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the prize trophy with sturdy round base.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the medium-sized golden prize cup, hand to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the smooth trophy with wide base by 0.10m."
+  ]
+}
\ No newline at end of file
diff --git a/handover_mic_wp1/handover_mic_wp1/instructions/episode77.json b/handover_mic_wp1/handover_mic_wp1/instructions/episode77.json
new file mode 100644
index 0000000000000000000000000000000000000000..b87e9c0f22ed7ee8f9ce19f4e26c1817bd5225b2
--- /dev/null
+++ b/handover_mic_wp1/handover_mic_wp1/instructions/episode77.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the gray stem microphone with foam top, move it staying 0.10m from the two-handled golden trophy, then complete the handoff.",
+    "Have the right arm take the audio microphone with soft covering, then the left arm takes the audio microphone with soft covering, keep 0.10m from the medium-sized prize trophy.",
+    "Take the dark blue microphone using the right arm, keep away from the shiny gold trophy with black stand, and pass to the left arm.",
+    "Secure the dark blue microphone, route it at least 0.10m from the trophy with smooth polished finish, then hand it over.",
+    "Lift the microphone with smooth gray stem with the right arm, give the microphone with smooth gray stem to the left arm, keep clear of the gold cup on black base 0.10m.",
+    "Pick up the audio microphone with soft covering with the right arm, transfer to the left arm, stay away from the centerpiece gold trophy on sturdy base.",
+    "Pick up the gray stem microphone with foam top using the right arm, transfer to the left arm, keep 0.10m from the trophy with two side handles.",
+    "Take the dark blue microphone with the right arm, hand over to the left arm, keep the dark blue microphone 0.10m away from the trophy with detailed top and base.",
+    "Move the audio microphone with soft covering from the right arm to the left arm while keeping clear of the gold trophy.",
+    "Take the microphone with round foam head with the right arm, route it away from the medium-sized prize trophy, then hand it to the left arm.",
+    "With the right arm, take the microphone covered with foam tip, keep distance from the trophy with detailed top and base, and give the microphone covered with foam tip to the left arm.",
+    "With the right arm, grasp the small audio microphone, then hand the small audio microphone to the left arm, avoiding the gold cup on black base.",
+    "Using the right arm, grab the gray stem microphone with foam top, keep 0.10m from the gold cup on black base, then give the gray stem microphone with foam top to the left arm.",
+    "Let the right arm grasp the dark blue microphone, move it 0.10m from the ornate gold cup, then the left arm receives.",
+    "Get the round head microphone with the right arm, shift the round head microphone to the left arm, maintaining 0.10m from the award trophy with black platform.",
+    "Using the right arm, take the audio microphone with soft covering and hand to the left arm, keeping 0.10m from the centerpiece gold trophy on sturdy base.",
+    "Grab the round head microphone, carry it around the award trophy with black platform with 0.10m clearance, then hand over.",
+    "Have the right arm grasp the audio microphone with soft covering, avoid the gold trophy by 0.10m, and transfer the audio microphone with soft covering to the left arm.",
+    "Use the right arm to lift the small audio microphone, then give the small audio microphone to the left arm, avoiding the two-handled golden trophy by 0.10m.",
+    "Lift the gray stem microphone with foam top, keep it 0.10m away from the gold cup on black base, then pass it across.",
+    "Pick up the medium microphone with two-tone color, move it staying 0.10m from the two-handled golden trophy, then complete the handoff.",
+    "Have the right arm take the small audio microphone, then the left arm takes the small audio microphone, keep 0.10m from the trophy with two side handles.",
+    "Take the microphone with dark blue padding using the right arm, keep away from the shiny gold trophy with black stand, and pass to the left arm.",
+    "Secure the gray stem microphone with foam top, route it at least 0.10m from the trophy with smooth polished finish, then hand it over.",
+    "Lift the microphone with round foam head with the right arm, give the microphone with round foam head to the left arm, keep clear of the shiny gold trophy with black stand 0.10m.",
+    "Pick up the gray and dark blue microphone with the right arm, transfer to the left arm, stay away from the shiny gold trophy with black stand.",
+    "Pick up the small audio microphone using the right arm, transfer to the left arm, keep 0.10m from the trophy with two side handles.",
+    "Take the microphone with round foam head with the right arm, hand over to the left arm, keep the microphone with round foam head 0.10m away from the medium-sized prize trophy.",
+    "Move the round head microphone from the right arm to the left arm while keeping clear of the gold and black prize cup.",
+    "Take the microphone with smooth gray stem with the right arm, route it away from the trophy with smooth polished finish, then hand it to the left arm.",
+    "With the right arm, take the dark blue microphone, keep distance from the two-handled golden trophy, and give the dark blue microphone to the left arm.",
+    "With the right arm, grasp the round head microphone, then hand the round head microphone to the left arm, avoiding the gold cup on black base.",
+    "Using the right arm, grab the microphone covered with foam tip, keep 0.10m from the trophy with detailed top and base, then give the microphone covered with foam tip to the left arm.",
+    "Let the right arm grasp the microphone with smooth gray stem, move it 0.10m from the gold and black prize cup, then the left arm receives.",
+    "Get the small audio microphone with the right arm, shift the small audio microphone to the left arm, maintaining 0.10m from the award trophy with black platform.",
+    "Using the right arm, take the audio microphone with soft covering and hand to the left arm, keeping 0.10m from the gold cup on black base.",
+    "Grab the microphone with smooth gray stem, carry it around the ornate gold cup with 0.10m clearance, then hand over.",
+    "Have the right arm grasp the microphone with round foam head, avoid the medium-sized prize trophy by 0.10m, and transfer the microphone with round foam head to the left arm.",
+    "Use the right arm to lift the medium microphone with two-tone color, then give the medium microphone with two-tone color to the left arm, avoiding the trophy with smooth polished finish by 0.10m.",
+    "Lift the dark blue microphone, keep it 0.10m away from the medium-sized prize trophy, then pass it across.",
+    "Pick up the small audio microphone, move it staying 0.10m from the shiny gold trophy with black stand, then complete the handoff.",
+    "Have the right arm take the microphone covered with foam tip, then the left arm takes the microphone covered with foam tip, keep 0.10m from the centerpiece gold trophy on sturdy base.",
+    "Take the gray and dark blue microphone using the right arm, keep away from the trophy with detailed top and base, and pass to the left arm.",
+    "Secure the microphone covered with foam tip, route it at least 0.10m from the centerpiece gold trophy on sturdy base, then hand it over.",
+    "Lift the round head microphone with the right arm, give the round head microphone to the left arm, keep clear of the gold and black prize cup 0.10m.",
+    "Pick up the gray stem microphone with foam top with the right arm, transfer to the left arm, stay away from the gold and black prize cup.",
+    "Pick up the dark blue microphone using the right arm, transfer to the left arm, keep 0.10m from the two-handled golden trophy.",
+    "Take the microphone covered with foam tip with the right arm, hand over to the left arm, keep the microphone covered with foam tip 0.10m away from the two-handled golden trophy.",
+    "Move the microphone covered with foam tip from the right arm to the left arm while keeping clear of the shiny gold trophy with black stand.",
+    "Take the gray stem microphone with foam top with the right arm, route it away from the award trophy with black platform, then hand it to the left arm.",
+    "With the right arm, take the gray stem microphone with foam top, keep distance from the centerpiece gold trophy on sturdy base, and give the gray stem microphone with foam top to the left arm.",
+    "With the right arm, grasp the round head microphone, then hand the round head microphone to the left arm, avoiding the medium-sized prize trophy.",
+    "Using the right arm, grab the round head microphone, keep 0.10m from the trophy with detailed top and base, then give the round head microphone to the left arm.",
+    "Let the right arm grasp the microphone with round foam head, move it 0.10m from the two-handled golden trophy, then the left arm receives.",
+    "Get the gray stem microphone with foam top with the right arm, shift the gray stem microphone with foam top to the left arm, maintaining 0.10m from the trophy with two side handles.",
+    "Using the right arm, take the microphone with dark blue padding and hand to the left arm, keeping 0.10m from the ornate gold cup.",
+    "Grab the microphone with smooth gray stem, carry it around the medium-sized prize trophy with 0.10m clearance, then hand over.",
+    "Have the right arm grasp the microphone with dark blue padding, avoid the centerpiece gold trophy on sturdy base by 0.10m, and transfer the microphone with dark blue padding to the left arm.",
+    "Use the right arm to lift the microphone with round foam head, then give the microphone with round foam head to the left arm, avoiding the two-handled golden trophy by 0.10m.",
+    "Lift the gray and dark blue microphone, keep it 0.10m away from the trophy with detailed top and base, then pass it across.",
+    "Pick up the microphone with dark blue padding, move it staying 0.10m from the award trophy with black platform, then complete the handoff.",
+    "Have the right arm take the microphone for recording sound, then the left arm takes the microphone for recording sound, keep 0.10m from the gold trophy.",
+    "Take the microphone covered with foam tip using the right arm, keep away from the centerpiece gold trophy on sturdy base, and pass to the left arm.",
+    "Secure the microphone with dark blue padding, route it at least 0.10m from the shiny gold trophy with black stand, then hand it over.",
+    "Lift the medium microphone with two-tone color with the right arm, give the medium microphone with two-tone color to the left arm, keep clear of the gold cup on black base 0.10m.",
+    "Pick up the microphone with round foam head with the right arm, transfer to the left arm, stay away from the trophy with two side handles.",
+    "Pick up the medium microphone with two-tone color using the right arm, transfer to the left arm, keep 0.10m from the shiny gold trophy with black stand.",
+    "Take the microphone covered with foam tip with the right arm, hand over to the left arm, keep the microphone covered with foam tip 0.10m away from the medium-sized prize trophy.",
+    "Move the small audio microphone from the right arm to the left arm while keeping clear of the trophy with smooth polished finish.",
+    "Take the microphone with dark blue padding with the right arm, route it away from the gold and black prize cup, then hand it to the left arm.",
+    "With the right arm, take the microphone for recording sound, keep distance from the shiny gold trophy with black stand, and give the microphone for recording sound to the left arm.",
+    "With the right arm, grasp the medium microphone with two-tone color, then hand the medium microphone with two-tone color to the left arm, avoiding the award trophy with black platform.",
+    "Using the right arm, grab the audio microphone with soft covering, keep 0.10m from the two-handled golden trophy, then give the audio microphone with soft covering to the left arm.",
+    "Let the right arm grasp the round head microphone, move it 0.10m from the gold cup on black base, then the left arm receives.",
+    "Get the small audio microphone with the right arm, shift the small audio microphone to the left arm, maintaining 0.10m from the shiny gold trophy with black stand.",
+    "Using the right arm, take the gray stem microphone with foam top and hand to the left arm, keeping 0.10m from the award trophy with black platform.",
+    "Grab the microphone covered with foam tip, carry it around the centerpiece gold trophy on sturdy base with 0.10m clearance, then hand over.",
+    "Have the right arm grasp the medium microphone with two-tone color, avoid the centerpiece gold trophy on sturdy base by 0.10m, and transfer the medium microphone with two-tone color to the left arm.",
+    "Use the right arm to lift the medium microphone with two-tone color, then give the medium microphone with two-tone color to the left arm, avoiding the centerpiece gold trophy on sturdy base by 0.10m.",
+    "Lift the gray and dark blue microphone, keep it 0.10m away from the trophy with two side handles, then pass it across.",
+    "Pick up the microphone with dark blue padding, move it staying 0.10m from the gold cup on black base, then complete the handoff.",
+    "Have the right arm take the microphone covered with foam tip, then the left arm takes the microphone covered with foam tip, keep 0.10m from the centerpiece gold trophy on sturdy base.",
+    "Take the microphone with smooth gray stem using the right arm, keep away from the centerpiece gold trophy on sturdy base, and pass to the left arm.",
+    "Secure the microphone for recording sound, route it at least 0.10m from the two-handled golden trophy, then hand it over.",
+    "Lift the microphone for recording sound with the right arm, give the microphone for recording sound to the left arm, keep clear of the centerpiece gold trophy on sturdy base 0.10m.",
+    "Pick up the microphone with smooth gray stem with the right arm, transfer to the left arm, stay away from the medium-sized prize trophy.",
+    "Pick up the microphone with smooth gray stem using the right arm, transfer to the left arm, keep 0.10m from the ornate gold cup.",
+    "Take the medium microphone with two-tone color with the right arm, hand over to the left arm, keep the medium microphone with two-tone color 0.10m away from the ornate gold cup.",
+    "Move the dark blue microphone from the right arm to the left arm while keeping clear of the shiny gold trophy with black stand.",
+    "Take the dark blue microphone with the right arm, route it away from the trophy with detailed top and base, then hand it to the left arm.",
+    "With the right arm, take the gray stem microphone with foam top, keep distance from the trophy with detailed top and base, and give the gray stem microphone with foam top to the left arm.",
+    "With the right arm, grasp the gray and dark blue microphone, then hand the gray and dark blue microphone to the left arm, avoiding the gold trophy.",
+    "Using the right arm, grab the microphone with smooth gray stem, keep 0.10m from the trophy with detailed top and base, then give the microphone with smooth gray stem to the left arm.",
+    "Let the right arm grasp the dark blue microphone, move it 0.10m from the shiny gold trophy with black stand, then the left arm receives.",
+    "Get the audio microphone with soft covering with the right arm, shift the audio microphone with soft covering to the left arm, maintaining 0.10m from the trophy with smooth polished finish.",
+    "Using the right arm, take the microphone with dark blue padding and hand to the left arm, keeping 0.10m from the award trophy with black platform.",
+    "Grab the round head microphone, carry it around the shiny gold trophy with black stand with 0.10m clearance, then hand over.",
+    "Have the right arm grasp the round head microphone, avoid the award trophy with black platform by 0.10m, and transfer the round head microphone to the left arm.",
+    "Use the right arm to lift the gray and dark blue microphone, then give the gray and dark blue microphone to the left arm, avoiding the medium-sized prize trophy by 0.10m.",
+    "Lift the microphone with dark blue padding, keep it 0.10m away from the centerpiece gold trophy on sturdy base, then pass it across."
+  ],
+  "unseen": [
+    "Grab the microphone with cylindrical handle with the right arm, hand it to the left arm, avoiding the smooth gold cup by 0.10m.",
+    "Use the right arm to grab the microphone with cylindrical handle, then pass it to the left arm, avoiding the trophy cup with curved handles.",
+    "Pick up the handheld microphone, avoid the golden award cup by 0.10m, pass the handheld microphone from the right arm to the left arm.",
+    "Use the right arm to grab the handheld microphone, pass to the left arm, keep the handheld microphone 0.10m from the smooth gold cup.",
+    "With the right arm, grab the compact microphone with two parts, pass to the left arm, keeping the compact microphone with two parts 0.10m from the golden award cup.",
+    "Grab the compact microphone with two parts with the right arm, keep 0.10m from the trophy cup with curved handles, hand to the left arm.",
+    "Grab the handheld microphone with the right arm, hand it to the left arm, avoiding the golden award cup by 0.10m.",
+    "Use the right arm to grab the compact microphone with two parts, then pass it to the left arm, avoiding the smooth gold cup.",
+    "Pick up the handheld microphone, avoid the smooth gold cup by 0.10m, pass the handheld microphone from the right arm to the left arm.",
+    "Use the right arm to grab the compact microphone with two parts, pass to the left arm, keep the compact microphone with two parts 0.10m from the golden award cup.",
+    "With the right arm, grab the handheld microphone, pass to the left arm, keeping the handheld microphone 0.10m from the golden award cup.",
+    "Grab the handheld microphone with the right arm, keep 0.10m from the smooth gold cup, hand to the left arm.",
+    "Grab the microphone with cylindrical handle with the right arm, hand it to the left arm, avoiding the smooth gold cup by 0.10m.",
+    "Use the right arm to grab the microphone with cylindrical handle, then pass it to the left arm, avoiding the smooth gold cup.",
+    "Pick up the compact microphone with two parts, avoid the trophy cup with curved handles by 0.10m, pass the compact microphone with two parts from the right arm to the left arm.",
+    "Use the right arm to grab the compact microphone with two parts, pass to the left arm, keep the compact microphone with two parts 0.10m from the trophy cup with curved handles.",
+    "With the right arm, grab the handheld microphone, pass to the left arm, keeping the handheld microphone 0.10m from the smooth gold cup.",
+    "Grab the compact microphone with two parts with the right arm, keep 0.10m from the trophy cup with curved handles, hand to the left arm.",
+    "Grab the handheld microphone with the right arm, hand it to the left arm, avoiding the golden award cup by 0.10m.",
+    "Use the right arm to grab the handheld microphone, then pass it to the left arm, avoiding the smooth gold cup.",
+    "Pick up the compact microphone with two parts, avoid the golden award cup by 0.10m, pass the compact microphone with two parts from the right arm to the left arm.",
+    "Use the right arm to grab the handheld microphone, pass to the left arm, keep the handheld microphone 0.10m from the golden award cup.",
+    "With the right arm, grab the handheld microphone, pass to the left arm, keeping the handheld microphone 0.10m from the trophy cup with curved handles.",
+    "Grab the handheld microphone with the right arm, keep 0.10m from the smooth gold cup, hand to the left arm.",
+    "Grab the microphone with cylindrical handle with the right arm, hand it to the left arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Use the right arm to grab the compact microphone with two parts, then pass it to the left arm, avoiding the smooth gold cup.",
+    "Pick up the microphone with cylindrical handle, avoid the smooth gold cup by 0.10m, pass the microphone with cylindrical handle from the right arm to the left arm.",
+    "Use the right arm to grab the microphone with cylindrical handle, pass to the left arm, keep the microphone with cylindrical handle 0.10m from the golden award cup.",
+    "With the right arm, grab the microphone with cylindrical handle, pass to the left arm, keeping the microphone with cylindrical handle 0.10m from the golden award cup.",
+    "Grab the compact microphone with two parts with the right arm, keep 0.10m from the smooth gold cup, hand to the left arm.",
+    "Grab the handheld microphone with the right arm, hand it to the left arm, avoiding the golden award cup by 0.10m.",
+    "Use the right arm to grab the handheld microphone, then pass it to the left arm, avoiding the trophy cup with curved handles.",
+    "Pick up the microphone with cylindrical handle, avoid the trophy cup with curved handles by 0.10m, pass the microphone with cylindrical handle from the right arm to the left arm.",
+    "Use the right arm to grab the compact microphone with two parts, pass to the left arm, keep the compact microphone with two parts 0.10m from the golden award cup.",
+    "With the right arm, grab the compact microphone with two parts, pass to the left arm, keeping the compact microphone with two parts 0.10m from the golden award cup.",
+    "Grab the microphone with cylindrical handle with the right arm, keep 0.10m from the golden award cup, hand to the left arm.",
+    "Grab the microphone with cylindrical handle with the right arm, hand it to the left arm, avoiding the smooth gold cup by 0.10m.",
+    "Use the right arm to grab the handheld microphone, then pass it to the left arm, avoiding the golden award cup.",
+    "Pick up the handheld microphone, avoid the golden award cup by 0.10m, pass the handheld microphone from the right arm to the left arm.",
+    "Use the right arm to grab the microphone with cylindrical handle, pass to the left arm, keep the microphone with cylindrical handle 0.10m from the golden award cup.",
+    "With the right arm, grab the microphone with cylindrical handle, pass to the left arm, keeping the microphone with cylindrical handle 0.10m from the smooth gold cup.",
+    "Grab the compact microphone with two parts with the right arm, keep 0.10m from the smooth gold cup, hand to the left arm.",
+    "Grab the microphone with cylindrical handle with the right arm, hand it to the left arm, avoiding the smooth gold cup by 0.10m.",
+    "Use the right arm to grab the compact microphone with two parts, then pass it to the left arm, avoiding the smooth gold cup.",
+    "Pick up the microphone with cylindrical handle, avoid the trophy cup with curved handles by 0.10m, pass the microphone with cylindrical handle from the right arm to the left arm.",
+    "Use the right arm to grab the compact microphone with two parts, pass to the left arm, keep the compact microphone with two parts 0.10m from the golden award cup.",
+    "With the right arm, grab the handheld microphone, pass to the left arm, keeping the handheld microphone 0.10m from the trophy cup with curved handles.",
+    "Grab the handheld microphone with the right arm, keep 0.10m from the golden award cup, hand to the left arm.",
+    "Grab the handheld microphone with the right arm, hand it to the left arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Use the right arm to grab the compact microphone with two parts, then pass it to the left arm, avoiding the golden award cup.",
+    "Pick up the microphone with cylindrical handle, avoid the golden award cup by 0.10m, pass the microphone with cylindrical handle from the right arm to the left arm.",
+    "Use the right arm to grab the microphone with cylindrical handle, pass to the left arm, keep the microphone with cylindrical handle 0.10m from the smooth gold cup.",
+    "With the right arm, grab the handheld microphone, pass to the left arm, keeping the handheld microphone 0.10m from the smooth gold cup.",
+    "Grab the microphone with cylindrical handle with the right arm, keep 0.10m from the golden award cup, hand to the left arm.",
+    "Grab the handheld microphone with the right arm, hand it to the left arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Use the right arm to grab the microphone with cylindrical handle, then pass it to the left arm, avoiding the smooth gold cup.",
+    "Pick up the compact microphone with two parts, avoid the golden award cup by 0.10m, pass the compact microphone with two parts from the right arm to the left arm.",
+    "Use the right arm to grab the handheld microphone, pass to the left arm, keep the handheld microphone 0.10m from the smooth gold cup.",
+    "With the right arm, grab the handheld microphone, pass to the left arm, keeping the handheld microphone 0.10m from the trophy cup with curved handles.",
+    "Grab the compact microphone with two parts with the right arm, keep 0.10m from the smooth gold cup, hand to the left arm.",
+    "Grab the handheld microphone with the right arm, hand it to the left arm, avoiding the golden award cup by 0.10m.",
+    "Use the right arm to grab the handheld microphone, then pass it to the left arm, avoiding the golden award cup.",
+    "Pick up the microphone with cylindrical handle, avoid the trophy cup with curved handles by 0.10m, pass the microphone with cylindrical handle from the right arm to the left arm.",
+    "Use the right arm to grab the handheld microphone, pass to the left arm, keep the handheld microphone 0.10m from the smooth gold cup.",
+    "With the right arm, grab the handheld microphone, pass to the left arm, keeping the handheld microphone 0.10m from the trophy cup with curved handles.",
+    "Grab the microphone with cylindrical handle with the right arm, keep 0.10m from the golden award cup, hand to the left arm.",
+    "Grab the compact microphone with two parts with the right arm, hand it to the left arm, avoiding the smooth gold cup by 0.10m.",
+    "Use the right arm to grab the compact microphone with two parts, then pass it to the left arm, avoiding the golden award cup.",
+    "Pick up the compact microphone with two parts, avoid the trophy cup with curved handles by 0.10m, pass the compact microphone with two parts from the right arm to the left arm.",
+    "Use the right arm to grab the compact microphone with two parts, pass to the left arm, keep the compact microphone with two parts 0.10m from the golden award cup.",
+    "With the right arm, grab the microphone with cylindrical handle, pass to the left arm, keeping the microphone with cylindrical handle 0.10m from the trophy cup with curved handles.",
+    "Grab the compact microphone with two parts with the right arm, keep 0.10m from the smooth gold cup, hand to the left arm.",
+    "Grab the microphone with cylindrical handle with the right arm, hand it to the left arm, avoiding the golden award cup by 0.10m.",
+    "Use the right arm to grab the compact microphone with two parts, then pass it to the left arm, avoiding the smooth gold cup.",
+    "Pick up the compact microphone with two parts, avoid the golden award cup by 0.10m, pass the compact microphone with two parts from the right arm to the left arm.",
+    "Use the right arm to grab the microphone with cylindrical handle, pass to the left arm, keep the microphone with cylindrical handle 0.10m from the smooth gold cup.",
+    "With the right arm, grab the handheld microphone, pass to the left arm, keeping the handheld microphone 0.10m from the trophy cup with curved handles.",
+    "Grab the microphone with cylindrical handle with the right arm, keep 0.10m from the smooth gold cup, hand to the left arm.",
+    "Grab the handheld microphone with the right arm, hand it to the left arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Use the right arm to grab the microphone with cylindrical handle, then pass it to the left arm, avoiding the smooth gold cup.",
+    "Pick up the microphone with cylindrical handle, avoid the smooth gold cup by 0.10m, pass the microphone with cylindrical handle from the right arm to the left arm.",
+    "Use the right arm to grab the microphone with cylindrical handle, pass to the left arm, keep the microphone with cylindrical handle 0.10m from the smooth gold cup.",
+    "With the right arm, grab the microphone with cylindrical handle, pass to the left arm, keeping the microphone with cylindrical handle 0.10m from the trophy cup with curved handles.",
+    "Grab the handheld microphone with the right arm, keep 0.10m from the golden award cup, hand to the left arm.",
+    "Grab the compact microphone with two parts with the right arm, hand it to the left arm, avoiding the golden award cup by 0.10m.",
+    "Use the right arm to grab the compact microphone with two parts, then pass it to the left arm, avoiding the golden award cup.",
+    "Pick up the handheld microphone, avoid the golden award cup by 0.10m, pass the handheld microphone from the right arm to the left arm.",
+    "Use the right arm to grab the handheld microphone, pass to the left arm, keep the handheld microphone 0.10m from the golden award cup.",
+    "With the right arm, grab the compact microphone with two parts, pass to the left arm, keeping the compact microphone with two parts 0.10m from the trophy cup with curved handles.",
+    "Grab the microphone with cylindrical handle with the right arm, keep 0.10m from the smooth gold cup, hand to the left arm.",
+    "Grab the microphone with cylindrical handle with the right arm, hand it to the left arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Use the right arm to grab the compact microphone with two parts, then pass it to the left arm, avoiding the smooth gold cup.",
+    "Pick up the microphone with cylindrical handle, avoid the smooth gold cup by 0.10m, pass the microphone with cylindrical handle from the right arm to the left arm.",
+    "Use the right arm to grab the handheld microphone, pass to the left arm, keep the handheld microphone 0.10m from the golden award cup.",
+    "With the right arm, grab the handheld microphone, pass to the left arm, keeping the handheld microphone 0.10m from the trophy cup with curved handles.",
+    "Grab the compact microphone with two parts with the right arm, keep 0.10m from the smooth gold cup, hand to the left arm.",
+    "Grab the compact microphone with two parts with the right arm, hand it to the left arm, avoiding the smooth gold cup by 0.10m.",
+    "Use the right arm to grab the microphone with cylindrical handle, then pass it to the left arm, avoiding the smooth gold cup.",
+    "Pick up the handheld microphone, avoid the trophy cup with curved handles by 0.10m, pass the handheld microphone from the right arm to the left arm.",
+    "Use the right arm to grab the compact microphone with two parts, pass to the left arm, keep the compact microphone with two parts 0.10m from the smooth gold cup."
+  ]
+}
\ No newline at end of file
diff --git a/handover_mic_wp1/handover_mic_wp1/instructions/episode78.json b/handover_mic_wp1/handover_mic_wp1/instructions/episode78.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a6f7bc31172cc12cd6aa340ca4acf2db396a05a
--- /dev/null
+++ b/handover_mic_wp1/handover_mic_wp1/instructions/episode78.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the microphone covered with foam tip with the left arm, hand over to the right arm, keep the microphone covered with foam tip 0.10m away from the two-handled golden trophy.",
+    "Lift the small audio microphone with the left arm, give the small audio microphone to the right arm, keep clear of the trophy with two side handles 0.10m.",
+    "Let the left arm grasp the medium microphone with two-tone color, move it 0.10m from the shiny gold trophy with black stand, then the right arm receives.",
+    "Take the microphone covered with foam tip using the left arm, keep away from the medium-sized prize trophy, and pass to the right arm.",
+    "Pick up the round head microphone, move it staying 0.10m from the gold and black prize cup, then complete the handoff.",
+    "Lift the small audio microphone, keep it 0.10m away from the shiny gold trophy with black stand, then pass it across.",
+    "Have the left arm grasp the medium microphone with two-tone color, avoid the medium-sized prize trophy by 0.10m, and transfer the medium microphone with two-tone color to the right arm.",
+    "With the left arm, grasp the small audio microphone, then hand the small audio microphone to the right arm, avoiding the trophy with two side handles.",
+    "Secure the microphone covered with foam tip, route it at least 0.10m from the shiny gold trophy with black stand, then hand it over.",
+    "Pick up the dark blue microphone with the left arm, transfer to the right arm, stay away from the award trophy with black platform.",
+    "Take the microphone for recording sound with the left arm, route it away from the shiny gold trophy with black stand, then hand it to the right arm.",
+    "Get the audio microphone with soft covering with the left arm, shift the audio microphone with soft covering to the right arm, maintaining 0.10m from the award trophy with black platform.",
+    "Grab the gray and dark blue microphone, carry it around the gold trophy with 0.10m clearance, then hand over.",
+    "Pick up the microphone with round foam head using the left arm, transfer to the right arm, keep 0.10m from the two-handled golden trophy.",
+    "Move the small audio microphone from the left arm to the right arm while keeping clear of the gold and black prize cup.",
+    "Using the left arm, take the small audio microphone and hand to the right arm, keeping 0.10m from the gold trophy.",
+    "Using the left arm, grab the gray stem microphone with foam top, keep 0.10m from the trophy with two side handles, then give the gray stem microphone with foam top to the right arm.",
+    "With the left arm, take the microphone with smooth gray stem, keep distance from the gold and black prize cup, and give the microphone with smooth gray stem to the right arm.",
+    "Have the left arm take the medium microphone with two-tone color, then the right arm takes the medium microphone with two-tone color, keep 0.10m from the ornate gold cup.",
+    "Use the left arm to lift the medium microphone with two-tone color, then give the medium microphone with two-tone color to the right arm, avoiding the trophy with detailed top and base by 0.10m.",
+    "Take the round head microphone with the left arm, hand over to the right arm, keep the round head microphone 0.10m away from the award trophy with black platform.",
+    "Lift the microphone with dark blue padding with the left arm, give the microphone with dark blue padding to the right arm, keep clear of the shiny gold trophy with black stand 0.10m.",
+    "Let the left arm grasp the gray stem microphone with foam top, move it 0.10m from the ornate gold cup, then the right arm receives.",
+    "Take the microphone with dark blue padding using the left arm, keep away from the gold and black prize cup, and pass to the right arm.",
+    "Pick up the microphone for recording sound, move it staying 0.10m from the gold cup on black base, then complete the handoff.",
+    "Lift the small audio microphone, keep it 0.10m away from the trophy with smooth polished finish, then pass it across.",
+    "Have the left arm grasp the microphone for recording sound, avoid the two-handled golden trophy by 0.10m, and transfer the microphone for recording sound to the right arm.",
+    "With the left arm, grasp the small audio microphone, then hand the small audio microphone to the right arm, avoiding the centerpiece gold trophy on sturdy base.",
+    "Secure the gray stem microphone with foam top, route it at least 0.10m from the trophy with detailed top and base, then hand it over.",
+    "Pick up the microphone with round foam head with the left arm, transfer to the right arm, stay away from the gold and black prize cup.",
+    "Take the microphone covered with foam tip with the left arm, route it away from the shiny gold trophy with black stand, then hand it to the right arm.",
+    "Get the round head microphone with the left arm, shift the round head microphone to the right arm, maintaining 0.10m from the gold trophy.",
+    "Grab the microphone covered with foam tip, carry it around the award trophy with black platform with 0.10m clearance, then hand over.",
+    "Pick up the microphone covered with foam tip using the left arm, transfer to the right arm, keep 0.10m from the trophy with detailed top and base.",
+    "Move the gray and dark blue microphone from the left arm to the right arm while keeping clear of the gold trophy.",
+    "Using the left arm, take the microphone with dark blue padding and hand to the right arm, keeping 0.10m from the gold cup on black base.",
+    "Using the left arm, grab the microphone with round foam head, keep 0.10m from the ornate gold cup, then give the microphone with round foam head to the right arm.",
+    "With the left arm, take the dark blue microphone, keep distance from the trophy with detailed top and base, and give the dark blue microphone to the right arm.",
+    "Have the left arm take the microphone for recording sound, then the right arm takes the microphone for recording sound, keep 0.10m from the medium-sized prize trophy.",
+    "Use the left arm to lift the microphone for recording sound, then give the microphone for recording sound to the right arm, avoiding the trophy with two side handles by 0.10m.",
+    "Take the small audio microphone with the left arm, hand over to the right arm, keep the small audio microphone 0.10m away from the two-handled golden trophy.",
+    "Lift the gray and dark blue microphone with the left arm, give the gray and dark blue microphone to the right arm, keep clear of the trophy with smooth polished finish 0.10m.",
+    "Let the left arm grasp the medium microphone with two-tone color, move it 0.10m from the ornate gold cup, then the right arm receives.",
+    "Take the microphone with round foam head using the left arm, keep away from the gold cup on black base, and pass to the right arm.",
+    "Pick up the round head microphone, move it staying 0.10m from the trophy with two side handles, then complete the handoff.",
+    "Lift the microphone for recording sound, keep it 0.10m away from the two-handled golden trophy, then pass it across.",
+    "Have the left arm grasp the dark blue microphone, avoid the trophy with detailed top and base by 0.10m, and transfer the dark blue microphone to the right arm.",
+    "With the left arm, grasp the round head microphone, then hand the round head microphone to the right arm, avoiding the shiny gold trophy with black stand.",
+    "Secure the microphone for recording sound, route it at least 0.10m from the trophy with smooth polished finish, then hand it over.",
+    "Pick up the gray and dark blue microphone with the left arm, transfer to the right arm, stay away from the award trophy with black platform.",
+    "Take the microphone covered with foam tip with the left arm, route it away from the centerpiece gold trophy on sturdy base, then hand it to the right arm.",
+    "Get the audio microphone with soft covering with the left arm, shift the audio microphone with soft covering to the right arm, maintaining 0.10m from the gold trophy.",
+    "Grab the round head microphone, carry it around the gold cup on black base with 0.10m clearance, then hand over.",
+    "Pick up the dark blue microphone using the left arm, transfer to the right arm, keep 0.10m from the two-handled golden trophy.",
+    "Move the medium microphone with two-tone color from the left arm to the right arm while keeping clear of the trophy with smooth polished finish.",
+    "Using the left arm, take the microphone with smooth gray stem and hand to the right arm, keeping 0.10m from the shiny gold trophy with black stand.",
+    "Using the left arm, grab the gray and dark blue microphone, keep 0.10m from the ornate gold cup, then give the gray and dark blue microphone to the right arm.",
+    "With the left arm, take the microphone with smooth gray stem, keep distance from the ornate gold cup, and give the microphone with smooth gray stem to the right arm.",
+    "Have the left arm take the microphone covered with foam tip, then the right arm takes the microphone covered with foam tip, keep 0.10m from the trophy with two side handles.",
+    "Use the left arm to lift the microphone covered with foam tip, then give the microphone covered with foam tip to the right arm, avoiding the award trophy with black platform by 0.10m.",
+    "Take the small audio microphone with the left arm, hand over to the right arm, keep the small audio microphone 0.10m away from the trophy with smooth polished finish.",
+    "Lift the small audio microphone with the left arm, give the small audio microphone to the right arm, keep clear of the medium-sized prize trophy 0.10m.",
+    "Let the left arm grasp the gray stem microphone with foam top, move it 0.10m from the gold and black prize cup, then the right arm receives.",
+    "Take the microphone with dark blue padding using the left arm, keep away from the medium-sized prize trophy, and pass to the right arm.",
+    "Pick up the microphone with smooth gray stem, move it staying 0.10m from the gold trophy, then complete the handoff.",
+    "Lift the gray and dark blue microphone, keep it 0.10m away from the trophy with two side handles, then pass it across.",
+    "Have the left arm grasp the small audio microphone, avoid the ornate gold cup by 0.10m, and transfer the small audio microphone to the right arm.",
+    "With the left arm, grasp the round head microphone, then hand the round head microphone to the right arm, avoiding the trophy with detailed top and base.",
+    "Secure the audio microphone with soft covering, route it at least 0.10m from the gold and black prize cup, then hand it over.",
+    "Pick up the gray and dark blue microphone with the left arm, transfer to the right arm, stay away from the gold and black prize cup.",
+    "Take the microphone for recording sound with the left arm, route it away from the centerpiece gold trophy on sturdy base, then hand it to the right arm.",
+    "Get the gray stem microphone with foam top with the left arm, shift the gray stem microphone with foam top to the right arm, maintaining 0.10m from the award trophy with black platform.",
+    "Grab the microphone with dark blue padding, carry it around the shiny gold trophy with black stand with 0.10m clearance, then hand over.",
+    "Pick up the audio microphone with soft covering using the left arm, transfer to the right arm, keep 0.10m from the gold and black prize cup.",
+    "Move the microphone covered with foam tip from the left arm to the right arm while keeping clear of the gold and black prize cup.",
+    "Using the left arm, take the microphone with dark blue padding and hand to the right arm, keeping 0.10m from the trophy with two side handles.",
+    "Using the left arm, grab the dark blue microphone, keep 0.10m from the trophy with two side handles, then give the dark blue microphone to the right arm.",
+    "With the left arm, take the microphone with smooth gray stem, keep distance from the gold and black prize cup, and give the microphone with smooth gray stem to the right arm.",
+    "Have the left arm take the microphone for recording sound, then the right arm takes the microphone for recording sound, keep 0.10m from the centerpiece gold trophy on sturdy base.",
+    "Use the left arm to lift the microphone with smooth gray stem, then give the microphone with smooth gray stem to the right arm, avoiding the shiny gold trophy with black stand by 0.10m.",
+    "Take the dark blue microphone with the left arm, hand over to the right arm, keep the dark blue microphone 0.10m away from the two-handled golden trophy.",
+    "Lift the gray stem microphone with foam top with the left arm, give the gray stem microphone with foam top to the right arm, keep clear of the gold and black prize cup 0.10m.",
+    "Let the left arm grasp the small audio microphone, move it 0.10m from the medium-sized prize trophy, then the right arm receives.",
+    "Take the small audio microphone using the left arm, keep away from the ornate gold cup, and pass to the right arm.",
+    "Pick up the round head microphone, move it staying 0.10m from the two-handled golden trophy, then complete the handoff.",
+    "Lift the audio microphone with soft covering, keep it 0.10m away from the award trophy with black platform, then pass it across.",
+    "Have the left arm grasp the microphone covered with foam tip, avoid the two-handled golden trophy by 0.10m, and transfer the microphone covered with foam tip to the right arm.",
+    "With the left arm, grasp the microphone with dark blue padding, then hand the microphone with dark blue padding to the right arm, avoiding the medium-sized prize trophy.",
+    "Secure the microphone with round foam head, route it at least 0.10m from the award trophy with black platform, then hand it over.",
+    "Pick up the dark blue microphone with the left arm, transfer to the right arm, stay away from the gold cup on black base.",
+    "Take the microphone with round foam head with the left arm, route it away from the centerpiece gold trophy on sturdy base, then hand it to the right arm.",
+    "Get the gray and dark blue microphone with the left arm, shift the gray and dark blue microphone to the right arm, maintaining 0.10m from the two-handled golden trophy.",
+    "Grab the audio microphone with soft covering, carry it around the gold trophy with 0.10m clearance, then hand over.",
+    "Pick up the gray stem microphone with foam top using the left arm, transfer to the right arm, keep 0.10m from the trophy with smooth polished finish.",
+    "Move the small audio microphone from the left arm to the right arm while keeping clear of the trophy with smooth polished finish.",
+    "Using the left arm, take the gray and dark blue microphone and hand to the right arm, keeping 0.10m from the ornate gold cup.",
+    "Using the left arm, grab the gray and dark blue microphone, keep 0.10m from the ornate gold cup, then give the gray and dark blue microphone to the right arm.",
+    "With the left arm, take the small audio microphone, keep distance from the shiny gold trophy with black stand, and give the small audio microphone to the right arm.",
+    "Have the left arm take the microphone covered with foam tip, then the right arm takes the microphone covered with foam tip, keep 0.10m from the two-handled golden trophy.",
+    "Use the left arm to lift the gray and dark blue microphone, then give the gray and dark blue microphone to the right arm, avoiding the trophy with detailed top and base by 0.10m."
+  ],
+  "unseen": [
+    "With the left arm, grab the handheld microphone, pass to the right arm, keeping the handheld microphone 0.10m from the trophy cup with curved handles.",
+    "Use the left arm to grab the handheld microphone, then pass it to the right arm, avoiding the golden award cup.",
+    "Grab the compact microphone with two parts with the left arm, hand it to the right arm, avoiding the golden award cup by 0.10m.",
+    "Pick up the compact microphone with two parts, avoid the smooth gold cup by 0.10m, pass the compact microphone with two parts from the left arm to the right arm.",
+    "Use the left arm to grab the handheld microphone, pass to the right arm, keep the handheld microphone 0.10m from the golden award cup.",
+    "Grab the compact microphone with two parts with the left arm, keep 0.10m from the trophy cup with curved handles, hand to the right arm.",
+    "With the left arm, grab the compact microphone with two parts, pass to the right arm, keeping the compact microphone with two parts 0.10m from the trophy cup with curved handles.",
+    "Use the left arm to grab the handheld microphone, then pass it to the right arm, avoiding the golden award cup.",
+    "Grab the microphone with cylindrical handle with the left arm, hand it to the right arm, avoiding the smooth gold cup by 0.10m.",
+    "Pick up the handheld microphone, avoid the trophy cup with curved handles by 0.10m, pass the handheld microphone from the left arm to the right arm.",
+    "Use the left arm to grab the microphone with cylindrical handle, pass to the right arm, keep the microphone with cylindrical handle 0.10m from the smooth gold cup.",
+    "Grab the handheld microphone with the left arm, keep 0.10m from the trophy cup with curved handles, hand to the right arm.",
+    "With the left arm, grab the handheld microphone, pass to the right arm, keeping the handheld microphone 0.10m from the trophy cup with curved handles.",
+    "Use the left arm to grab the handheld microphone, then pass it to the right arm, avoiding the trophy cup with curved handles.",
+    "Grab the compact microphone with two parts with the left arm, hand it to the right arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Pick up the handheld microphone, avoid the smooth gold cup by 0.10m, pass the handheld microphone from the left arm to the right arm.",
+    "Use the left arm to grab the compact microphone with two parts, pass to the right arm, keep the compact microphone with two parts 0.10m from the smooth gold cup.",
+    "Grab the compact microphone with two parts with the left arm, keep 0.10m from the smooth gold cup, hand to the right arm.",
+    "With the left arm, grab the compact microphone with two parts, pass to the right arm, keeping the compact microphone with two parts 0.10m from the smooth gold cup.",
+    "Use the left arm to grab the handheld microphone, then pass it to the right arm, avoiding the golden award cup.",
+    "Grab the compact microphone with two parts with the left arm, hand it to the right arm, avoiding the smooth gold cup by 0.10m.",
+    "Pick up the compact microphone with two parts, avoid the golden award cup by 0.10m, pass the compact microphone with two parts from the left arm to the right arm.",
+    "Use the left arm to grab the compact microphone with two parts, pass to the right arm, keep the compact microphone with two parts 0.10m from the trophy cup with curved handles.",
+    "Grab the handheld microphone with the left arm, keep 0.10m from the smooth gold cup, hand to the right arm.",
+    "With the left arm, grab the compact microphone with two parts, pass to the right arm, keeping the compact microphone with two parts 0.10m from the trophy cup with curved handles.",
+    "Use the left arm to grab the microphone with cylindrical handle, then pass it to the right arm, avoiding the golden award cup.",
+    "Grab the microphone with cylindrical handle with the left arm, hand it to the right arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Pick up the microphone with cylindrical handle, avoid the smooth gold cup by 0.10m, pass the microphone with cylindrical handle from the left arm to the right arm.",
+    "Use the left arm to grab the compact microphone with two parts, pass to the right arm, keep the compact microphone with two parts 0.10m from the golden award cup.",
+    "Grab the microphone with cylindrical handle with the left arm, keep 0.10m from the smooth gold cup, hand to the right arm.",
+    "With the left arm, grab the compact microphone with two parts, pass to the right arm, keeping the compact microphone with two parts 0.10m from the trophy cup with curved handles.",
+    "Use the left arm to grab the microphone with cylindrical handle, then pass it to the right arm, avoiding the trophy cup with curved handles.",
+    "Grab the microphone with cylindrical handle with the left arm, hand it to the right arm, avoiding the golden award cup by 0.10m.",
+    "Pick up the microphone with cylindrical handle, avoid the smooth gold cup by 0.10m, pass the microphone with cylindrical handle from the left arm to the right arm.",
+    "Use the left arm to grab the handheld microphone, pass to the right arm, keep the handheld microphone 0.10m from the smooth gold cup.",
+    "Grab the compact microphone with two parts with the left arm, keep 0.10m from the golden award cup, hand to the right arm.",
+    "With the left arm, grab the compact microphone with two parts, pass to the right arm, keeping the compact microphone with two parts 0.10m from the trophy cup with curved handles.",
+    "Use the left arm to grab the handheld microphone, then pass it to the right arm, avoiding the smooth gold cup.",
+    "Grab the microphone with cylindrical handle with the left arm, hand it to the right arm, avoiding the golden award cup by 0.10m.",
+    "Pick up the compact microphone with two parts, avoid the golden award cup by 0.10m, pass the compact microphone with two parts from the left arm to the right arm.",
+    "Use the left arm to grab the handheld microphone, pass to the right arm, keep the handheld microphone 0.10m from the smooth gold cup.",
+    "Grab the handheld microphone with the left arm, keep 0.10m from the smooth gold cup, hand to the right arm.",
+    "With the left arm, grab the handheld microphone, pass to the right arm, keeping the handheld microphone 0.10m from the golden award cup.",
+    "Use the left arm to grab the microphone with cylindrical handle, then pass it to the right arm, avoiding the golden award cup.",
+    "Grab the compact microphone with two parts with the left arm, hand it to the right arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Pick up the compact microphone with two parts, avoid the trophy cup with curved handles by 0.10m, pass the compact microphone with two parts from the left arm to the right arm.",
+    "Use the left arm to grab the microphone with cylindrical handle, pass to the right arm, keep the microphone with cylindrical handle 0.10m from the smooth gold cup.",
+    "Grab the handheld microphone with the left arm, keep 0.10m from the trophy cup with curved handles, hand to the right arm.",
+    "With the left arm, grab the handheld microphone, pass to the right arm, keeping the handheld microphone 0.10m from the trophy cup with curved handles.",
+    "Use the left arm to grab the microphone with cylindrical handle, then pass it to the right arm, avoiding the smooth gold cup.",
+    "Grab the handheld microphone with the left arm, hand it to the right arm, avoiding the golden award cup by 0.10m.",
+    "Pick up the compact microphone with two parts, avoid the trophy cup with curved handles by 0.10m, pass the compact microphone with two parts from the left arm to the right arm.",
+    "Use the left arm to grab the compact microphone with two parts, pass to the right arm, keep the compact microphone with two parts 0.10m from the smooth gold cup.",
+    "Grab the microphone with cylindrical handle with the left arm, keep 0.10m from the golden award cup, hand to the right arm.",
+    "With the left arm, grab the microphone with cylindrical handle, pass to the right arm, keeping the microphone with cylindrical handle 0.10m from the smooth gold cup.",
+    "Use the left arm to grab the compact microphone with two parts, then pass it to the right arm, avoiding the trophy cup with curved handles.",
+    "Grab the handheld microphone with the left arm, hand it to the right arm, avoiding the golden award cup by 0.10m.",
+    "Pick up the compact microphone with two parts, avoid the smooth gold cup by 0.10m, pass the compact microphone with two parts from the left arm to the right arm.",
+    "Use the left arm to grab the compact microphone with two parts, pass to the right arm, keep the compact microphone with two parts 0.10m from the smooth gold cup.",
+    "Grab the microphone with cylindrical handle with the left arm, keep 0.10m from the trophy cup with curved handles, hand to the right arm.",
+    "With the left arm, grab the compact microphone with two parts, pass to the right arm, keeping the compact microphone with two parts 0.10m from the trophy cup with curved handles.",
+    "Use the left arm to grab the handheld microphone, then pass it to the right arm, avoiding the trophy cup with curved handles.",
+    "Grab the compact microphone with two parts with the left arm, hand it to the right arm, avoiding the golden award cup by 0.10m.",
+    "Pick up the handheld microphone, avoid the smooth gold cup by 0.10m, pass the handheld microphone from the left arm to the right arm.",
+    "Use the left arm to grab the microphone with cylindrical handle, pass to the right arm, keep the microphone with cylindrical handle 0.10m from the trophy cup with curved handles.",
+    "Grab the microphone with cylindrical handle with the left arm, keep 0.10m from the golden award cup, hand to the right arm.",
+    "With the left arm, grab the compact microphone with two parts, pass to the right arm, keeping the compact microphone with two parts 0.10m from the trophy cup with curved handles.",
+    "Use the left arm to grab the microphone with cylindrical handle, then pass it to the right arm, avoiding the smooth gold cup.",
+    "Grab the handheld microphone with the left arm, hand it to the right arm, avoiding the golden award cup by 0.10m.",
+    "Pick up the handheld microphone, avoid the trophy cup with curved handles by 0.10m, pass the handheld microphone from the left arm to the right arm.",
+    "Use the left arm to grab the compact microphone with two parts, pass to the right arm, keep the compact microphone with two parts 0.10m from the smooth gold cup.",
+    "Grab the handheld microphone with the left arm, keep 0.10m from the trophy cup with curved handles, hand to the right arm.",
+    "With the left arm, grab the compact microphone with two parts, pass to the right arm, keeping the compact microphone with two parts 0.10m from the smooth gold cup.",
+    "Use the left arm to grab the compact microphone with two parts, then pass it to the right arm, avoiding the golden award cup.",
+    "Grab the compact microphone with two parts with the left arm, hand it to the right arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Pick up the handheld microphone, avoid the smooth gold cup by 0.10m, pass the handheld microphone from the left arm to the right arm.",
+    "Use the left arm to grab the compact microphone with two parts, pass to the right arm, keep the compact microphone with two parts 0.10m from the trophy cup with curved handles.",
+    "Grab the compact microphone with two parts with the left arm, keep 0.10m from the smooth gold cup, hand to the right arm.",
+    "With the left arm, grab the microphone with cylindrical handle, pass to the right arm, keeping the microphone with cylindrical handle 0.10m from the trophy cup with curved handles.",
+    "Use the left arm to grab the microphone with cylindrical handle, then pass it to the right arm, avoiding the trophy cup with curved handles.",
+    "Grab the microphone with cylindrical handle with the left arm, hand it to the right arm, avoiding the smooth gold cup by 0.10m.",
+    "Pick up the compact microphone with two parts, avoid the golden award cup by 0.10m, pass the compact microphone with two parts from the left arm to the right arm.",
+    "Use the left arm to grab the microphone with cylindrical handle, pass to the right arm, keep the microphone with cylindrical handle 0.10m from the trophy cup with curved handles.",
+    "Grab the handheld microphone with the left arm, keep 0.10m from the smooth gold cup, hand to the right arm.",
+    "With the left arm, grab the handheld microphone, pass to the right arm, keeping the handheld microphone 0.10m from the smooth gold cup.",
+    "Use the left arm to grab the microphone with cylindrical handle, then pass it to the right arm, avoiding the smooth gold cup.",
+    "Grab the compact microphone with two parts with the left arm, hand it to the right arm, avoiding the golden award cup by 0.10m.",
+    "Pick up the microphone with cylindrical handle, avoid the trophy cup with curved handles by 0.10m, pass the microphone with cylindrical handle from the left arm to the right arm.",
+    "Use the left arm to grab the handheld microphone, pass to the right arm, keep the handheld microphone 0.10m from the smooth gold cup.",
+    "Grab the handheld microphone with the left arm, keep 0.10m from the trophy cup with curved handles, hand to the right arm.",
+    "With the left arm, grab the handheld microphone, pass to the right arm, keeping the handheld microphone 0.10m from the trophy cup with curved handles.",
+    "Use the left arm to grab the compact microphone with two parts, then pass it to the right arm, avoiding the trophy cup with curved handles.",
+    "Grab the compact microphone with two parts with the left arm, hand it to the right arm, avoiding the smooth gold cup by 0.10m.",
+    "Pick up the microphone with cylindrical handle, avoid the trophy cup with curved handles by 0.10m, pass the microphone with cylindrical handle from the left arm to the right arm.",
+    "Use the left arm to grab the microphone with cylindrical handle, pass to the right arm, keep the microphone with cylindrical handle 0.10m from the smooth gold cup.",
+    "Grab the microphone with cylindrical handle with the left arm, keep 0.10m from the smooth gold cup, hand to the right arm.",
+    "With the left arm, grab the compact microphone with two parts, pass to the right arm, keeping the compact microphone with two parts 0.10m from the golden award cup.",
+    "Use the left arm to grab the microphone with cylindrical handle, then pass it to the right arm, avoiding the smooth gold cup.",
+    "Grab the microphone with cylindrical handle with the left arm, hand it to the right arm, avoiding the golden award cup by 0.10m.",
+    "Pick up the microphone with cylindrical handle, avoid the smooth gold cup by 0.10m, pass the microphone with cylindrical handle from the left arm to the right arm."
+  ]
+}
\ No newline at end of file
diff --git a/handover_mic_wp1/handover_mic_wp1/instructions/episode79.json b/handover_mic_wp1/handover_mic_wp1/instructions/episode79.json
new file mode 100644
index 0000000000000000000000000000000000000000..a9ad040086b5e2ec64b4847c4eaeba37f51dcac4
--- /dev/null
+++ b/handover_mic_wp1/handover_mic_wp1/instructions/episode79.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the handheld teal microphone with the left arm, hand over to the right arm, keep the handheld teal microphone 0.10m away from the golden cup with curved handles.",
+    "Have the left arm take the teal microphone, then the right arm takes the teal microphone, keep 0.10m from the achievement cup with curved side handles.",
+    "Pick up the rounded white tip microphone using the left arm, transfer to the right arm, keep 0.10m from the golden cup with curved handles.",
+    "Have the left arm grasp the white bottom microphone with textured tip, avoid the golden yellow cup-shaped prize trophy by 0.10m, and transfer the white bottom microphone with textured tip to the right arm.",
+    "With the left arm, grasp the microphone with slider switch, then hand the microphone with slider switch to the right arm, avoiding the golden trophy.",
+    "Lift the textured white microphone head, keep it 0.10m away from the golden cup with curved handles, then pass it across.",
+    "Take the sound microphone with teal body using the left arm, keep away from the tall award trophy with glossy surface, and pass to the right arm.",
+    "Using the left arm, take the teal microphone and hand to the right arm, keeping 0.10m from the trophy with sleek golden finish.",
+    "Move the sound microphone with teal body from the left arm to the right arm while keeping clear of the golden yellow cup-shaped prize trophy.",
+    "Take the microphone with slider switch with the left arm, route it away from the smooth metallic cup with flat bottom, then hand it to the right arm.",
+    "Lift the textured white microphone head with the left arm, give the textured white microphone head to the right arm, keep clear of the golden trophy 0.10m.",
+    "Let the left arm grasp the teal microphone, move it 0.10m from the trophy with sleek golden finish, then the right arm receives.",
+    "Grab the microphone with white rounded head, carry it around the tall yellow trophy with small neck with 0.10m clearance, then hand over.",
+    "With the left arm, take the white and teal sound microphone, keep distance from the smooth metallic cup with flat bottom, and give the white and teal sound microphone to the right arm.",
+    "Get the white and teal sound microphone with the left arm, shift the white and teal sound microphone to the right arm, maintaining 0.10m from the golden trophy.",
+    "Secure the white bottom microphone with textured tip, route it at least 0.10m from the award trophy with two handles, then hand it over.",
+    "Pick up the plastic teal microphone with slider, move it staying 0.10m from the golden yellow cup-shaped prize trophy, then complete the handoff.",
+    "Using the left arm, grab the textured white microphone head, keep 0.10m from the shiny trophy for winning competitions, then give the textured white microphone head to the right arm.",
+    "Pick up the handheld teal microphone with the left arm, transfer to the right arm, stay away from the trophy with sleek golden finish.",
+    "Use the left arm to lift the plastic teal microphone with slider, then give the plastic teal microphone with slider to the right arm, avoiding the award trophy with two handles by 0.10m.",
+    "Take the microphone with white rounded head with the left arm, hand over to the right arm, keep the microphone with white rounded head 0.10m away from the award trophy with two handles.",
+    "Have the left arm take the microphone with slider switch, then the right arm takes the microphone with slider switch, keep 0.10m from the metallic yellow cup-shaped trophy.",
+    "Pick up the microphone with white rounded head using the left arm, transfer to the right arm, keep 0.10m from the golden trophy.",
+    "Have the left arm grasp the white bottom microphone with textured tip, avoid the award trophy with two handles by 0.10m, and transfer the white bottom microphone with textured tip to the right arm.",
+    "With the left arm, grasp the white and teal sound microphone, then hand the white and teal sound microphone to the right arm, avoiding the golden cup with curved handles.",
+    "Lift the sound microphone with teal body, keep it 0.10m away from the tall award trophy with glossy surface, then pass it across.",
+    "Take the sound microphone with teal body using the left arm, keep away from the smooth metallic cup with flat bottom, and pass to the right arm.",
+    "Using the left arm, take the compact teal and white microphone and hand to the right arm, keeping 0.10m from the golden cup with curved handles.",
+    "Move the teal microphone from the left arm to the right arm while keeping clear of the golden trophy.",
+    "Take the sound microphone with teal body with the left arm, route it away from the metallic yellow cup-shaped trophy, then hand it to the right arm.",
+    "Lift the sound microphone with teal body with the left arm, give the sound microphone with teal body to the right arm, keep clear of the trophy with sleek golden finish 0.10m.",
+    "Let the left arm grasp the microphone with slider switch, move it 0.10m from the metallic yellow cup-shaped trophy, then the right arm receives.",
+    "Grab the rounded white tip microphone, carry it around the golden yellow cup-shaped prize trophy with 0.10m clearance, then hand over.",
+    "With the left arm, take the handheld teal microphone, keep distance from the award trophy with two handles, and give the handheld teal microphone to the right arm.",
+    "Get the microphone with white rounded head with the left arm, shift the microphone with white rounded head to the right arm, maintaining 0.10m from the trophy with sleek golden finish.",
+    "Secure the microphone with slider switch, route it at least 0.10m from the shiny yellow trophy, then hand it over.",
+    "Pick up the textured white microphone head, move it staying 0.10m from the golden cup with curved handles, then complete the handoff.",
+    "Using the left arm, grab the handheld teal microphone, keep 0.10m from the tall award trophy with glossy surface, then give the handheld teal microphone to the right arm.",
+    "Pick up the compact teal and white microphone with the left arm, transfer to the right arm, stay away from the trophy with sleek golden finish.",
+    "Use the left arm to lift the textured white microphone head, then give the textured white microphone head to the right arm, avoiding the smooth metallic cup with flat bottom by 0.10m.",
+    "Take the plastic teal microphone with slider with the left arm, hand over to the right arm, keep the plastic teal microphone with slider 0.10m away from the tall award trophy with glossy surface.",
+    "Have the left arm take the rounded white tip microphone, then the right arm takes the rounded white tip microphone, keep 0.10m from the shiny yellow trophy.",
+    "Pick up the white and teal sound microphone using the left arm, transfer to the right arm, keep 0.10m from the award trophy with two handles.",
+    "Have the left arm grasp the rounded white tip microphone, avoid the metallic yellow cup-shaped trophy by 0.10m, and transfer the rounded white tip microphone to the right arm.",
+    "With the left arm, grasp the handheld teal microphone, then hand the handheld teal microphone to the right arm, avoiding the shiny trophy for winning competitions.",
+    "Lift the microphone with slider switch, keep it 0.10m away from the golden yellow cup-shaped prize trophy, then pass it across.",
+    "Take the sound microphone with teal body using the left arm, keep away from the tall award trophy with glossy surface, and pass to the right arm.",
+    "Using the left arm, take the white and teal sound microphone and hand to the right arm, keeping 0.10m from the golden yellow cup-shaped prize trophy.",
+    "Move the handheld teal microphone from the left arm to the right arm while keeping clear of the trophy with sleek golden finish.",
+    "Take the textured white microphone head with the left arm, route it away from the shiny yellow trophy, then hand it to the right arm.",
+    "Lift the white bottom microphone with textured tip with the left arm, give the white bottom microphone with textured tip to the right arm, keep clear of the achievement cup with curved side handles 0.10m.",
+    "Let the left arm grasp the textured white microphone head, move it 0.10m from the trophy with sleek golden finish, then the right arm receives.",
+    "Grab the teal microphone, carry it around the smooth metallic cup with flat bottom with 0.10m clearance, then hand over.",
+    "With the left arm, take the compact teal and white microphone, keep distance from the shiny trophy for winning competitions, and give the compact teal and white microphone to the right arm.",
+    "Get the textured white microphone head with the left arm, shift the textured white microphone head to the right arm, maintaining 0.10m from the metallic yellow cup-shaped trophy.",
+    "Secure the textured white microphone head, route it at least 0.10m from the tall award trophy with glossy surface, then hand it over.",
+    "Pick up the rounded white tip microphone, move it staying 0.10m from the award trophy with two handles, then complete the handoff.",
+    "Using the left arm, grab the textured white microphone head, keep 0.10m from the shiny trophy for winning competitions, then give the textured white microphone head to the right arm.",
+    "Pick up the rounded white tip microphone with the left arm, transfer to the right arm, stay away from the metallic yellow cup-shaped trophy.",
+    "Use the left arm to lift the textured white microphone head, then give the textured white microphone head to the right arm, avoiding the shiny trophy for winning competitions by 0.10m.",
+    "Take the white and teal sound microphone with the left arm, hand over to the right arm, keep the white and teal sound microphone 0.10m away from the golden trophy.",
+    "Have the left arm take the compact teal and white microphone, then the right arm takes the compact teal and white microphone, keep 0.10m from the tall yellow trophy with small neck.",
+    "Pick up the plastic teal microphone with slider using the left arm, transfer to the right arm, keep 0.10m from the golden trophy.",
+    "Have the left arm grasp the rounded white tip microphone, avoid the shiny trophy for winning competitions by 0.10m, and transfer the rounded white tip microphone to the right arm.",
+    "With the left arm, grasp the microphone with slider switch, then hand the microphone with slider switch to the right arm, avoiding the shiny yellow trophy.",
+    "Lift the microphone with white rounded head, keep it 0.10m away from the achievement cup with curved side handles, then pass it across.",
+    "Take the white bottom microphone with textured tip using the left arm, keep away from the smooth metallic cup with flat bottom, and pass to the right arm.",
+    "Using the left arm, take the long microphone with smooth teal grip and hand to the right arm, keeping 0.10m from the trophy with sleek golden finish.",
+    "Move the teal microphone from the left arm to the right arm while keeping clear of the award trophy with two handles.",
+    "Take the rounded white tip microphone with the left arm, route it away from the smooth metallic cup with flat bottom, then hand it to the right arm.",
+    "Lift the white bottom microphone with textured tip with the left arm, give the white bottom microphone with textured tip to the right arm, keep clear of the golden trophy 0.10m.",
+    "Let the left arm grasp the microphone with slider switch, move it 0.10m from the smooth metallic cup with flat bottom, then the right arm receives.",
+    "Grab the sound microphone with teal body, carry it around the trophy with sleek golden finish with 0.10m clearance, then hand over.",
+    "With the left arm, take the teal microphone, keep distance from the shiny trophy for winning competitions, and give the teal microphone to the right arm.",
+    "Get the microphone with white rounded head with the left arm, shift the microphone with white rounded head to the right arm, maintaining 0.10m from the tall yellow trophy with small neck.",
+    "Secure the teal microphone, route it at least 0.10m from the tall yellow trophy with small neck, then hand it over.",
+    "Pick up the textured white microphone head, move it staying 0.10m from the tall award trophy with glossy surface, then complete the handoff.",
+    "Using the left arm, grab the white bottom microphone with textured tip, keep 0.10m from the metallic yellow cup-shaped trophy, then give the white bottom microphone with textured tip to the right arm.",
+    "Pick up the microphone with slider switch with the left arm, transfer to the right arm, stay away from the golden cup with curved handles.",
+    "Use the left arm to lift the plastic teal microphone with slider, then give the plastic teal microphone with slider to the right arm, avoiding the golden cup with curved handles by 0.10m.",
+    "Take the textured white microphone head with the left arm, hand over to the right arm, keep the textured white microphone head 0.10m away from the shiny yellow trophy.",
+    "Have the left arm take the long microphone with smooth teal grip, then the right arm takes the long microphone with smooth teal grip, keep 0.10m from the shiny yellow trophy.",
+    "Pick up the microphone with white rounded head using the left arm, transfer to the right arm, keep 0.10m from the tall award trophy with glossy surface.",
+    "Have the left arm grasp the microphone with white rounded head, avoid the tall award trophy with glossy surface by 0.10m, and transfer the microphone with white rounded head to the right arm.",
+    "With the left arm, grasp the teal microphone, then hand the teal microphone to the right arm, avoiding the golden yellow cup-shaped prize trophy.",
+    "Lift the white bottom microphone with textured tip, keep it 0.10m away from the tall yellow trophy with small neck, then pass it across.",
+    "Take the rounded white tip microphone using the left arm, keep away from the trophy with sleek golden finish, and pass to the right arm.",
+    "Using the left arm, take the sound microphone with teal body and hand to the right arm, keeping 0.10m from the golden yellow cup-shaped prize trophy.",
+    "Move the teal microphone from the left arm to the right arm while keeping clear of the smooth metallic cup with flat bottom.",
+    "Take the compact teal and white microphone with the left arm, route it away from the trophy with sleek golden finish, then hand it to the right arm.",
+    "Lift the compact teal and white microphone with the left arm, give the compact teal and white microphone to the right arm, keep clear of the smooth metallic cup with flat bottom 0.10m.",
+    "Let the left arm grasp the rounded white tip microphone, move it 0.10m from the shiny trophy for winning competitions, then the right arm receives.",
+    "Grab the microphone with slider switch, carry it around the shiny yellow trophy with 0.10m clearance, then hand over.",
+    "With the left arm, take the sound microphone with teal body, keep distance from the smooth metallic cup with flat bottom, and give the sound microphone with teal body to the right arm.",
+    "Get the microphone with slider switch with the left arm, shift the microphone with slider switch to the right arm, maintaining 0.10m from the achievement cup with curved side handles.",
+    "Secure the teal microphone, route it at least 0.10m from the award trophy with two handles, then hand it over.",
+    "Pick up the plastic teal microphone with slider, move it staying 0.10m from the metallic yellow cup-shaped trophy, then complete the handoff.",
+    "Using the left arm, grab the long microphone with smooth teal grip, keep 0.10m from the shiny yellow trophy, then give the long microphone with smooth teal grip to the right arm.",
+    "Pick up the microphone with slider switch with the left arm, transfer to the right arm, stay away from the smooth metallic cup with flat bottom.",
+    "Use the left arm to lift the sound microphone with teal body, then give the sound microphone with teal body to the right arm, avoiding the smooth metallic cup with flat bottom by 0.10m."
+  ],
+  "unseen": [
+    "With the left arm, grab the switchable microphone with teal body, pass to the right arm, keeping the switchable microphone with teal body 0.10m from the prize trophy with sturdy round base.",
+    "Grab the teal microphone with white bottom with the left arm, hand it to the right arm, avoiding the medium-sized golden prize cup by 0.10m.",
+    "Use the left arm to grab the teal microphone with white bottom, pass to the right arm, keep the teal microphone with white bottom 0.10m from the smooth trophy with wide base.",
+    "Pick up the switchable microphone with teal body, avoid the medium-sized golden prize cup by 0.10m, pass the switchable microphone with teal body from the left arm to the right arm.",
+    "Use the left arm to grab the switchable microphone with teal body, then pass it to the right arm, avoiding the medium-sized golden prize cup.",
+    "Grab the teal microphone with white bottom with the left arm, keep 0.10m from the prize trophy with sturdy round base, hand to the right arm.",
+    "With the left arm, grab the switchable microphone with teal body, pass to the right arm, keeping the switchable microphone with teal body 0.10m from the smooth trophy with wide base.",
+    "Grab the teal microphone with white bottom with the left arm, hand it to the right arm, avoiding the smooth trophy with wide base by 0.10m.",
+    "Use the left arm to grab the switchable microphone with teal body, pass to the right arm, keep the switchable microphone with teal body 0.10m from the prize trophy with sturdy round base.",
+    "Pick up the long teal microphone with white grooves, avoid the prize trophy with sturdy round base by 0.10m, pass the long teal microphone with white grooves from the left arm to the right arm.",
+    "Use the left arm to grab the teal microphone with white bottom, then pass it to the right arm, avoiding the smooth trophy with wide base.",
+    "Grab the teal microphone with white bottom with the left arm, keep 0.10m from the smooth trophy with wide base, hand to the right arm.",
+    "With the left arm, grab the switchable microphone with teal body, pass to the right arm, keeping the switchable microphone with teal body 0.10m from the smooth trophy with wide base.",
+    "Grab the teal microphone with white bottom with the left arm, hand it to the right arm, avoiding the smooth trophy with wide base by 0.10m.",
+    "Use the left arm to grab the switchable microphone with teal body, pass to the right arm, keep the switchable microphone with teal body 0.10m from the smooth trophy with wide base.",
+    "Pick up the long teal microphone with white grooves, avoid the smooth trophy with wide base by 0.10m, pass the long teal microphone with white grooves from the left arm to the right arm.",
+    "Use the left arm to grab the long teal microphone with white grooves, then pass it to the right arm, avoiding the prize trophy with sturdy round base.",
+    "Grab the switchable microphone with teal body with the left arm, keep 0.10m from the prize trophy with sturdy round base, hand to the right arm.",
+    "With the left arm, grab the long teal microphone with white grooves, pass to the right arm, keeping the long teal microphone with white grooves 0.10m from the medium-sized golden prize cup.",
+    "Grab the teal microphone with white bottom with the left arm, hand it to the right arm, avoiding the prize trophy with sturdy round base by 0.10m.",
+    "Use the left arm to grab the teal microphone with white bottom, pass to the right arm, keep the teal microphone with white bottom 0.10m from the medium-sized golden prize cup.",
+    "Pick up the teal microphone with white bottom, avoid the prize trophy with sturdy round base by 0.10m, pass the teal microphone with white bottom from the left arm to the right arm.",
+    "Use the left arm to grab the switchable microphone with teal body, then pass it to the right arm, avoiding the smooth trophy with wide base.",
+    "Grab the switchable microphone with teal body with the left arm, keep 0.10m from the smooth trophy with wide base, hand to the right arm.",
+    "With the left arm, grab the teal microphone with white bottom, pass to the right arm, keeping the teal microphone with white bottom 0.10m from the medium-sized golden prize cup.",
+    "Grab the switchable microphone with teal body with the left arm, hand it to the right arm, avoiding the medium-sized golden prize cup by 0.10m.",
+    "Use the left arm to grab the teal microphone with white bottom, pass to the right arm, keep the teal microphone with white bottom 0.10m from the medium-sized golden prize cup.",
+    "Pick up the switchable microphone with teal body, avoid the medium-sized golden prize cup by 0.10m, pass the switchable microphone with teal body from the left arm to the right arm.",
+    "Use the left arm to grab the teal microphone with white bottom, then pass it to the right arm, avoiding the smooth trophy with wide base.",
+    "Grab the teal microphone with white bottom with the left arm, keep 0.10m from the smooth trophy with wide base, hand to the right arm.",
+    "With the left arm, grab the long teal microphone with white grooves, pass to the right arm, keeping the long teal microphone with white grooves 0.10m from the smooth trophy with wide base.",
+    "Grab the teal microphone with white bottom with the left arm, hand it to the right arm, avoiding the prize trophy with sturdy round base by 0.10m.",
+    "Use the left arm to grab the long teal microphone with white grooves, pass to the right arm, keep the long teal microphone with white grooves 0.10m from the smooth trophy with wide base.",
+    "Pick up the teal microphone with white bottom, avoid the prize trophy with sturdy round base by 0.10m, pass the teal microphone with white bottom from the left arm to the right arm.",
+    "Use the left arm to grab the teal microphone with white bottom, then pass it to the right arm, avoiding the smooth trophy with wide base.",
+    "Grab the switchable microphone with teal body with the left arm, keep 0.10m from the smooth trophy with wide base, hand to the right arm.",
+    "With the left arm, grab the switchable microphone with teal body, pass to the right arm, keeping the switchable microphone with teal body 0.10m from the prize trophy with sturdy round base.",
+    "Grab the switchable microphone with teal body with the left arm, hand it to the right arm, avoiding the smooth trophy with wide base by 0.10m.",
+    "Use the left arm to grab the teal microphone with white bottom, pass to the right arm, keep the teal microphone with white bottom 0.10m from the prize trophy with sturdy round base.",
+    "Pick up the long teal microphone with white grooves, avoid the smooth trophy with wide base by 0.10m, pass the long teal microphone with white grooves from the left arm to the right arm.",
+    "Use the left arm to grab the teal microphone with white bottom, then pass it to the right arm, avoiding the smooth trophy with wide base.",
+    "Grab the long teal microphone with white grooves with the left arm, keep 0.10m from the smooth trophy with wide base, hand to the right arm.",
+    "With the left arm, grab the teal microphone with white bottom, pass to the right arm, keeping the teal microphone with white bottom 0.10m from the prize trophy with sturdy round base.",
+    "Grab the teal microphone with white bottom with the left arm, hand it to the right arm, avoiding the prize trophy with sturdy round base by 0.10m.",
+    "Use the left arm to grab the teal microphone with white bottom, pass to the right arm, keep the teal microphone with white bottom 0.10m from the medium-sized golden prize cup.",
+    "Pick up the teal microphone with white bottom, avoid the prize trophy with sturdy round base by 0.10m, pass the teal microphone with white bottom from the left arm to the right arm.",
+    "Use the left arm to grab the long teal microphone with white grooves, then pass it to the right arm, avoiding the prize trophy with sturdy round base.",
+    "Grab the teal microphone with white bottom with the left arm, keep 0.10m from the smooth trophy with wide base, hand to the right arm.",
+    "With the left arm, grab the teal microphone with white bottom, pass to the right arm, keeping the teal microphone with white bottom 0.10m from the medium-sized golden prize cup.",
+    "Grab the teal microphone with white bottom with the left arm, hand it to the right arm, avoiding the medium-sized golden prize cup by 0.10m.",
+    "Use the left arm to grab the switchable microphone with teal body, pass to the right arm, keep the switchable microphone with teal body 0.10m from the smooth trophy with wide base.",
+    "Pick up the long teal microphone with white grooves, avoid the prize trophy with sturdy round base by 0.10m, pass the long teal microphone with white grooves from the left arm to the right arm.",
+    "Use the left arm to grab the switchable microphone with teal body, then pass it to the right arm, avoiding the prize trophy with sturdy round base.",
+    "Grab the switchable microphone with teal body with the left arm, keep 0.10m from the smooth trophy with wide base, hand to the right arm.",
+    "With the left arm, grab the long teal microphone with white grooves, pass to the right arm, keeping the long teal microphone with white grooves 0.10m from the prize trophy with sturdy round base.",
+    "Grab the switchable microphone with teal body with the left arm, hand it to the right arm, avoiding the smooth trophy with wide base by 0.10m.",
+    "Use the left arm to grab the switchable microphone with teal body, pass to the right arm, keep the switchable microphone with teal body 0.10m from the smooth trophy with wide base.",
+    "Pick up the teal microphone with white bottom, avoid the medium-sized golden prize cup by 0.10m, pass the teal microphone with white bottom from the left arm to the right arm.",
+    "Use the left arm to grab the long teal microphone with white grooves, then pass it to the right arm, avoiding the medium-sized golden prize cup.",
+    "Grab the switchable microphone with teal body with the left arm, keep 0.10m from the smooth trophy with wide base, hand to the right arm.",
+    "With the left arm, grab the long teal microphone with white grooves, pass to the right arm, keeping the long teal microphone with white grooves 0.10m from the prize trophy with sturdy round base.",
+    "Grab the teal microphone with white bottom with the left arm, hand it to the right arm, avoiding the smooth trophy with wide base by 0.10m.",
+    "Use the left arm to grab the teal microphone with white bottom, pass to the right arm, keep the teal microphone with white bottom 0.10m from the medium-sized golden prize cup.",
+    "Pick up the long teal microphone with white grooves, avoid the prize trophy with sturdy round base by 0.10m, pass the long teal microphone with white grooves from the left arm to the right arm.",
+    "Use the left arm to grab the teal microphone with white bottom, then pass it to the right arm, avoiding the smooth trophy with wide base.",
+    "Grab the switchable microphone with teal body with the left arm, keep 0.10m from the smooth trophy with wide base, hand to the right arm.",
+    "With the left arm, grab the long teal microphone with white grooves, pass to the right arm, keeping the long teal microphone with white grooves 0.10m from the prize trophy with sturdy round base.",
+    "Grab the switchable microphone with teal body with the left arm, hand it to the right arm, avoiding the medium-sized golden prize cup by 0.10m.",
+    "Use the left arm to grab the teal microphone with white bottom, pass to the right arm, keep the teal microphone with white bottom 0.10m from the smooth trophy with wide base.",
+    "Pick up the teal microphone with white bottom, avoid the prize trophy with sturdy round base by 0.10m, pass the teal microphone with white bottom from the left arm to the right arm.",
+    "Use the left arm to grab the switchable microphone with teal body, then pass it to the right arm, avoiding the prize trophy with sturdy round base.",
+    "Grab the teal microphone with white bottom with the left arm, keep 0.10m from the prize trophy with sturdy round base, hand to the right arm.",
+    "With the left arm, grab the long teal microphone with white grooves, pass to the right arm, keeping the long teal microphone with white grooves 0.10m from the smooth trophy with wide base.",
+    "Grab the teal microphone with white bottom with the left arm, hand it to the right arm, avoiding the medium-sized golden prize cup by 0.10m.",
+    "Use the left arm to grab the teal microphone with white bottom, pass to the right arm, keep the teal microphone with white bottom 0.10m from the prize trophy with sturdy round base.",
+    "Pick up the switchable microphone with teal body, avoid the prize trophy with sturdy round base by 0.10m, pass the switchable microphone with teal body from the left arm to the right arm.",
+    "Use the left arm to grab the teal microphone with white bottom, then pass it to the right arm, avoiding the medium-sized golden prize cup.",
+    "Grab the teal microphone with white bottom with the left arm, keep 0.10m from the smooth trophy with wide base, hand to the right arm.",
+    "With the left arm, grab the switchable microphone with teal body, pass to the right arm, keeping the switchable microphone with teal body 0.10m from the prize trophy with sturdy round base.",
+    "Grab the long teal microphone with white grooves with the left arm, hand it to the right arm, avoiding the prize trophy with sturdy round base by 0.10m.",
+    "Use the left arm to grab the long teal microphone with white grooves, pass to the right arm, keep the long teal microphone with white grooves 0.10m from the medium-sized golden prize cup.",
+    "Pick up the long teal microphone with white grooves, avoid the medium-sized golden prize cup by 0.10m, pass the long teal microphone with white grooves from the left arm to the right arm.",
+    "Use the left arm to grab the long teal microphone with white grooves, then pass it to the right arm, avoiding the medium-sized golden prize cup.",
+    "Grab the teal microphone with white bottom with the left arm, keep 0.10m from the smooth trophy with wide base, hand to the right arm.",
+    "With the left arm, grab the long teal microphone with white grooves, pass to the right arm, keeping the long teal microphone with white grooves 0.10m from the medium-sized golden prize cup.",
+    "Grab the teal microphone with white bottom with the left arm, hand it to the right arm, avoiding the medium-sized golden prize cup by 0.10m.",
+    "Use the left arm to grab the switchable microphone with teal body, pass to the right arm, keep the switchable microphone with teal body 0.10m from the prize trophy with sturdy round base.",
+    "Pick up the switchable microphone with teal body, avoid the prize trophy with sturdy round base by 0.10m, pass the switchable microphone with teal body from the left arm to the right arm.",
+    "Use the left arm to grab the long teal microphone with white grooves, then pass it to the right arm, avoiding the medium-sized golden prize cup.",
+    "Grab the switchable microphone with teal body with the left arm, keep 0.10m from the prize trophy with sturdy round base, hand to the right arm.",
+    "With the left arm, grab the teal microphone with white bottom, pass to the right arm, keeping the teal microphone with white bottom 0.10m from the prize trophy with sturdy round base.",
+    "Grab the switchable microphone with teal body with the left arm, hand it to the right arm, avoiding the smooth trophy with wide base by 0.10m.",
+    "Use the left arm to grab the long teal microphone with white grooves, pass to the right arm, keep the long teal microphone with white grooves 0.10m from the medium-sized golden prize cup.",
+    "Pick up the long teal microphone with white grooves, avoid the prize trophy with sturdy round base by 0.10m, pass the long teal microphone with white grooves from the left arm to the right arm.",
+    "Use the left arm to grab the teal microphone with white bottom, then pass it to the right arm, avoiding the smooth trophy with wide base.",
+    "Grab the teal microphone with white bottom with the left arm, keep 0.10m from the prize trophy with sturdy round base, hand to the right arm.",
+    "With the left arm, grab the long teal microphone with white grooves, pass to the right arm, keeping the long teal microphone with white grooves 0.10m from the medium-sized golden prize cup.",
+    "Grab the switchable microphone with teal body with the left arm, hand it to the right arm, avoiding the prize trophy with sturdy round base by 0.10m.",
+    "Use the left arm to grab the switchable microphone with teal body, pass to the right arm, keep the switchable microphone with teal body 0.10m from the smooth trophy with wide base.",
+    "Pick up the switchable microphone with teal body, avoid the smooth trophy with wide base by 0.10m, pass the switchable microphone with teal body from the left arm to the right arm."
+  ]
+}
\ No newline at end of file
diff --git a/handover_mic_wp1/handover_mic_wp1/instructions/episode8.json b/handover_mic_wp1/handover_mic_wp1/instructions/episode8.json
new file mode 100644
index 0000000000000000000000000000000000000000..92ddf7680b60e60fda076f3533bac3abddeaf920
--- /dev/null
+++ b/handover_mic_wp1/handover_mic_wp1/instructions/episode8.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Move the handheld teal microphone from the right arm to the left arm while keeping clear of the trophy with detailed top and base.",
+    "Take the white and teal sound microphone with the right arm, hand over to the left arm, keep the white and teal sound microphone 0.10m away from the award trophy with black platform.",
+    "Using the right arm, grab the sound microphone with teal body, keep 0.10m from the shiny gold trophy with black stand, then give the sound microphone with teal body to the left arm.",
+    "Lift the microphone with white rounded head with the right arm, give the microphone with white rounded head to the left arm, keep clear of the gold cup on black base 0.10m.",
+    "Using the right arm, take the microphone with slider switch and hand to the left arm, keeping 0.10m from the trophy with smooth polished finish.",
+    "Get the handheld teal microphone with the right arm, shift the handheld teal microphone to the left arm, maintaining 0.10m from the medium-sized prize trophy.",
+    "Have the right arm grasp the plastic teal microphone with slider, avoid the medium-sized prize trophy by 0.10m, and transfer the plastic teal microphone with slider to the left arm.",
+    "With the right arm, grasp the plastic teal microphone with slider, then hand the plastic teal microphone with slider to the left arm, avoiding the shiny gold trophy with black stand.",
+    "Use the right arm to lift the microphone with slider switch, then give the microphone with slider switch to the left arm, avoiding the trophy with smooth polished finish by 0.10m.",
+    "Pick up the compact teal and white microphone using the right arm, transfer to the left arm, keep 0.10m from the award trophy with black platform.",
+    "Take the sound microphone with teal body using the right arm, keep away from the gold trophy, and pass to the left arm.",
+    "Pick up the compact teal and white microphone with the right arm, transfer to the left arm, stay away from the gold trophy.",
+    "Secure the long microphone with smooth teal grip, route it at least 0.10m from the trophy with smooth polished finish, then hand it over.",
+    "Lift the teal microphone, keep it 0.10m away from the gold and black prize cup, then pass it across.",
+    "Take the sound microphone with teal body with the right arm, route it away from the trophy with smooth polished finish, then hand it to the left arm.",
+    "Grab the handheld teal microphone, carry it around the centerpiece gold trophy on sturdy base with 0.10m clearance, then hand over.",
+    "Have the right arm take the textured white microphone head, then the left arm takes the textured white microphone head, keep 0.10m from the medium-sized prize trophy.",
+    "Pick up the microphone with slider switch, move it staying 0.10m from the gold and black prize cup, then complete the handoff.",
+    "With the right arm, take the compact teal and white microphone, keep distance from the medium-sized prize trophy, and give the compact teal and white microphone to the left arm.",
+    "Let the right arm grasp the rounded white tip microphone, move it 0.10m from the gold and black prize cup, then the left arm receives.",
+    "Move the white and teal sound microphone from the right arm to the left arm while keeping clear of the medium-sized prize trophy.",
+    "Take the long microphone with smooth teal grip with the right arm, hand over to the left arm, keep the long microphone with smooth teal grip 0.10m away from the gold trophy.",
+    "Using the right arm, grab the sound microphone with teal body, keep 0.10m from the award trophy with black platform, then give the sound microphone with teal body to the left arm.",
+    "Lift the plastic teal microphone with slider with the right arm, give the plastic teal microphone with slider to the left arm, keep clear of the award trophy with black platform 0.10m.",
+    "Using the right arm, take the microphone with white rounded head and hand to the left arm, keeping 0.10m from the award trophy with black platform.",
+    "Get the textured white microphone head with the right arm, shift the textured white microphone head to the left arm, maintaining 0.10m from the trophy with two side handles.",
+    "Have the right arm grasp the microphone with white rounded head, avoid the gold and black prize cup by 0.10m, and transfer the microphone with white rounded head to the left arm.",
+    "With the right arm, grasp the white bottom microphone with textured tip, then hand the white bottom microphone with textured tip to the left arm, avoiding the trophy with two side handles.",
+    "Use the right arm to lift the plastic teal microphone with slider, then give the plastic teal microphone with slider to the left arm, avoiding the two-handled golden trophy by 0.10m.",
+    "Pick up the long microphone with smooth teal grip using the right arm, transfer to the left arm, keep 0.10m from the gold cup on black base.",
+    "Take the textured white microphone head using the right arm, keep away from the trophy with smooth polished finish, and pass to the left arm.",
+    "Pick up the rounded white tip microphone with the right arm, transfer to the left arm, stay away from the trophy with smooth polished finish.",
+    "Secure the sound microphone with teal body, route it at least 0.10m from the ornate gold cup, then hand it over.",
+    "Lift the textured white microphone head, keep it 0.10m away from the gold trophy, then pass it across.",
+    "Take the textured white microphone head with the right arm, route it away from the centerpiece gold trophy on sturdy base, then hand it to the left arm.",
+    "Grab the sound microphone with teal body, carry it around the gold cup on black base with 0.10m clearance, then hand over.",
+    "Have the right arm take the plastic teal microphone with slider, then the left arm takes the plastic teal microphone with slider, keep 0.10m from the shiny gold trophy with black stand.",
+    "Pick up the microphone with white rounded head, move it staying 0.10m from the trophy with two side handles, then complete the handoff.",
+    "With the right arm, take the teal microphone, keep distance from the two-handled golden trophy, and give the teal microphone to the left arm.",
+    "Let the right arm grasp the plastic teal microphone with slider, move it 0.10m from the gold cup on black base, then the left arm receives.",
+    "Move the rounded white tip microphone from the right arm to the left arm while keeping clear of the gold and black prize cup.",
+    "Take the plastic teal microphone with slider with the right arm, hand over to the left arm, keep the plastic teal microphone with slider 0.10m away from the trophy with detailed top and base.",
+    "Using the right arm, grab the compact teal and white microphone, keep 0.10m from the gold and black prize cup, then give the compact teal and white microphone to the left arm.",
+    "Lift the plastic teal microphone with slider with the right arm, give the plastic teal microphone with slider to the left arm, keep clear of the two-handled golden trophy 0.10m.",
+    "Using the right arm, take the textured white microphone head and hand to the left arm, keeping 0.10m from the centerpiece gold trophy on sturdy base.",
+    "Get the long microphone with smooth teal grip with the right arm, shift the long microphone with smooth teal grip to the left arm, maintaining 0.10m from the trophy with smooth polished finish.",
+    "Have the right arm grasp the long microphone with smooth teal grip, avoid the trophy with smooth polished finish by 0.10m, and transfer the long microphone with smooth teal grip to the left arm.",
+    "With the right arm, grasp the handheld teal microphone, then hand the handheld teal microphone to the left arm, avoiding the medium-sized prize trophy.",
+    "Use the right arm to lift the microphone with slider switch, then give the microphone with slider switch to the left arm, avoiding the gold and black prize cup by 0.10m.",
+    "Pick up the microphone with white rounded head using the right arm, transfer to the left arm, keep 0.10m from the ornate gold cup.",
+    "Take the textured white microphone head using the right arm, keep away from the medium-sized prize trophy, and pass to the left arm.",
+    "Pick up the microphone with slider switch with the right arm, transfer to the left arm, stay away from the trophy with two side handles.",
+    "Secure the white and teal sound microphone, route it at least 0.10m from the gold and black prize cup, then hand it over.",
+    "Lift the long microphone with smooth teal grip, keep it 0.10m away from the trophy with detailed top and base, then pass it across.",
+    "Take the microphone with slider switch with the right arm, route it away from the trophy with smooth polished finish, then hand it to the left arm.",
+    "Grab the handheld teal microphone, carry it around the trophy with smooth polished finish with 0.10m clearance, then hand over.",
+    "Have the right arm take the compact teal and white microphone, then the left arm takes the compact teal and white microphone, keep 0.10m from the trophy with smooth polished finish.",
+    "Pick up the sound microphone with teal body, move it staying 0.10m from the ornate gold cup, then complete the handoff.",
+    "With the right arm, take the rounded white tip microphone, keep distance from the centerpiece gold trophy on sturdy base, and give the rounded white tip microphone to the left arm.",
+    "Let the right arm grasp the white and teal sound microphone, move it 0.10m from the gold trophy, then the left arm receives.",
+    "Move the long microphone with smooth teal grip from the right arm to the left arm while keeping clear of the ornate gold cup.",
+    "Take the teal microphone with the right arm, hand over to the left arm, keep the teal microphone 0.10m away from the ornate gold cup.",
+    "Using the right arm, grab the plastic teal microphone with slider, keep 0.10m from the ornate gold cup, then give the plastic teal microphone with slider to the left arm.",
+    "Lift the compact teal and white microphone with the right arm, give the compact teal and white microphone to the left arm, keep clear of the ornate gold cup 0.10m.",
+    "Using the right arm, take the long microphone with smooth teal grip and hand to the left arm, keeping 0.10m from the gold cup on black base.",
+    "Get the textured white microphone head with the right arm, shift the textured white microphone head to the left arm, maintaining 0.10m from the shiny gold trophy with black stand.",
+    "Have the right arm grasp the long microphone with smooth teal grip, avoid the two-handled golden trophy by 0.10m, and transfer the long microphone with smooth teal grip to the left arm.",
+    "With the right arm, grasp the microphone with slider switch, then hand the microphone with slider switch to the left arm, avoiding the shiny gold trophy with black stand.",
+    "Use the right arm to lift the handheld teal microphone, then give the handheld teal microphone to the left arm, avoiding the trophy with detailed top and base by 0.10m.",
+    "Pick up the compact teal and white microphone using the right arm, transfer to the left arm, keep 0.10m from the award trophy with black platform.",
+    "Take the microphone with slider switch using the right arm, keep away from the centerpiece gold trophy on sturdy base, and pass to the left arm.",
+    "Pick up the long microphone with smooth teal grip with the right arm, transfer to the left arm, stay away from the centerpiece gold trophy on sturdy base.",
+    "Secure the white and teal sound microphone, route it at least 0.10m from the gold cup on black base, then hand it over.",
+    "Lift the white bottom microphone with textured tip, keep it 0.10m away from the shiny gold trophy with black stand, then pass it across.",
+    "Take the microphone with slider switch with the right arm, route it away from the gold and black prize cup, then hand it to the left arm.",
+    "Grab the microphone with slider switch, carry it around the trophy with detailed top and base with 0.10m clearance, then hand over.",
+    "Have the right arm take the microphone with slider switch, then the left arm takes the microphone with slider switch, keep 0.10m from the gold and black prize cup.",
+    "Pick up the compact teal and white microphone, move it staying 0.10m from the shiny gold trophy with black stand, then complete the handoff.",
+    "With the right arm, take the long microphone with smooth teal grip, keep distance from the award trophy with black platform, and give the long microphone with smooth teal grip to the left arm.",
+    "Let the right arm grasp the microphone with white rounded head, move it 0.10m from the gold and black prize cup, then the left arm receives.",
+    "Move the textured white microphone head from the right arm to the left arm while keeping clear of the ornate gold cup.",
+    "Take the rounded white tip microphone with the right arm, hand over to the left arm, keep the rounded white tip microphone 0.10m away from the gold cup on black base.",
+    "Using the right arm, grab the long microphone with smooth teal grip, keep 0.10m from the gold trophy, then give the long microphone with smooth teal grip to the left arm.",
+    "Lift the white and teal sound microphone with the right arm, give the white and teal sound microphone to the left arm, keep clear of the shiny gold trophy with black stand 0.10m.",
+    "Using the right arm, take the teal microphone and hand to the left arm, keeping 0.10m from the centerpiece gold trophy on sturdy base.",
+    "Get the microphone with slider switch with the right arm, shift the microphone with slider switch to the left arm, maintaining 0.10m from the trophy with detailed top and base.",
+    "Have the right arm grasp the textured white microphone head, avoid the gold and black prize cup by 0.10m, and transfer the textured white microphone head to the left arm.",
+    "With the right arm, grasp the plastic teal microphone with slider, then hand the plastic teal microphone with slider to the left arm, avoiding the two-handled golden trophy.",
+    "Use the right arm to lift the textured white microphone head, then give the textured white microphone head to the left arm, avoiding the medium-sized prize trophy by 0.10m.",
+    "Pick up the sound microphone with teal body using the right arm, transfer to the left arm, keep 0.10m from the award trophy with black platform.",
+    "Take the handheld teal microphone using the right arm, keep away from the trophy with detailed top and base, and pass to the left arm.",
+    "Pick up the microphone with slider switch with the right arm, transfer to the left arm, stay away from the award trophy with black platform.",
+    "Secure the microphone with slider switch, route it at least 0.10m from the two-handled golden trophy, then hand it over.",
+    "Lift the white bottom microphone with textured tip, keep it 0.10m away from the gold and black prize cup, then pass it across.",
+    "Take the handheld teal microphone with the right arm, route it away from the gold trophy, then hand it to the left arm.",
+    "Grab the microphone with white rounded head, carry it around the ornate gold cup with 0.10m clearance, then hand over.",
+    "Have the right arm take the white bottom microphone with textured tip, then the left arm takes the white bottom microphone with textured tip, keep 0.10m from the gold trophy.",
+    "Pick up the plastic teal microphone with slider, move it staying 0.10m from the award trophy with black platform, then complete the handoff.",
+    "With the right arm, take the textured white microphone head, keep distance from the gold trophy, and give the textured white microphone head to the left arm.",
+    "Let the right arm grasp the white bottom microphone with textured tip, move it 0.10m from the ornate gold cup, then the left arm receives."
+  ],
+  "unseen": [
+    "Use the right arm to grab the long teal microphone with white grooves, pass to the left arm, keep the long teal microphone with white grooves 0.10m from the golden award cup.",
+    "Use the right arm to grab the long teal microphone with white grooves, then pass it to the left arm, avoiding the smooth gold cup.",
+    "Pick up the teal microphone with white bottom, avoid the golden award cup by 0.10m, pass the teal microphone with white bottom from the right arm to the left arm.",
+    "Grab the teal microphone with white bottom with the right arm, hand it to the left arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "With the right arm, grab the long teal microphone with white grooves, pass to the left arm, keeping the long teal microphone with white grooves 0.10m from the trophy cup with curved handles.",
+    "Grab the long teal microphone with white grooves with the right arm, keep 0.10m from the trophy cup with curved handles, hand to the left arm.",
+    "Use the right arm to grab the teal microphone with white bottom, pass to the left arm, keep the teal microphone with white bottom 0.10m from the smooth gold cup.",
+    "Use the right arm to grab the switchable microphone with teal body, then pass it to the left arm, avoiding the smooth gold cup.",
+    "Pick up the teal microphone with white bottom, avoid the golden award cup by 0.10m, pass the teal microphone with white bottom from the right arm to the left arm.",
+    "Grab the teal microphone with white bottom with the right arm, hand it to the left arm, avoiding the golden award cup by 0.10m.",
+    "With the right arm, grab the long teal microphone with white grooves, pass to the left arm, keeping the long teal microphone with white grooves 0.10m from the trophy cup with curved handles.",
+    "Grab the long teal microphone with white grooves with the right arm, keep 0.10m from the smooth gold cup, hand to the left arm.",
+    "Use the right arm to grab the long teal microphone with white grooves, pass to the left arm, keep the long teal microphone with white grooves 0.10m from the smooth gold cup.",
+    "Use the right arm to grab the teal microphone with white bottom, then pass it to the left arm, avoiding the smooth gold cup.",
+    "Pick up the teal microphone with white bottom, avoid the smooth gold cup by 0.10m, pass the teal microphone with white bottom from the right arm to the left arm.",
+    "Grab the teal microphone with white bottom with the right arm, hand it to the left arm, avoiding the golden award cup by 0.10m.",
+    "With the right arm, grab the long teal microphone with white grooves, pass to the left arm, keeping the long teal microphone with white grooves 0.10m from the smooth gold cup.",
+    "Grab the switchable microphone with teal body with the right arm, keep 0.10m from the smooth gold cup, hand to the left arm.",
+    "Use the right arm to grab the switchable microphone with teal body, pass to the left arm, keep the switchable microphone with teal body 0.10m from the golden award cup.",
+    "Use the right arm to grab the teal microphone with white bottom, then pass it to the left arm, avoiding the golden award cup.",
+    "Pick up the switchable microphone with teal body, avoid the trophy cup with curved handles by 0.10m, pass the switchable microphone with teal body from the right arm to the left arm.",
+    "Grab the long teal microphone with white grooves with the right arm, hand it to the left arm, avoiding the golden award cup by 0.10m.",
+    "With the right arm, grab the long teal microphone with white grooves, pass to the left arm, keeping the long teal microphone with white grooves 0.10m from the golden award cup.",
+    "Grab the long teal microphone with white grooves with the right arm, keep 0.10m from the smooth gold cup, hand to the left arm.",
+    "Use the right arm to grab the long teal microphone with white grooves, pass to the left arm, keep the long teal microphone with white grooves 0.10m from the smooth gold cup.",
+    "Use the right arm to grab the long teal microphone with white grooves, then pass it to the left arm, avoiding the trophy cup with curved handles.",
+    "Pick up the long teal microphone with white grooves, avoid the smooth gold cup by 0.10m, pass the long teal microphone with white grooves from the right arm to the left arm.",
+    "Grab the long teal microphone with white grooves with the right arm, hand it to the left arm, avoiding the smooth gold cup by 0.10m.",
+    "With the right arm, grab the long teal microphone with white grooves, pass to the left arm, keeping the long teal microphone with white grooves 0.10m from the smooth gold cup.",
+    "Grab the long teal microphone with white grooves with the right arm, keep 0.10m from the trophy cup with curved handles, hand to the left arm.",
+    "Use the right arm to grab the long teal microphone with white grooves, pass to the left arm, keep the long teal microphone with white grooves 0.10m from the golden award cup.",
+    "Use the right arm to grab the switchable microphone with teal body, then pass it to the left arm, avoiding the golden award cup.",
+    "Pick up the switchable microphone with teal body, avoid the trophy cup with curved handles by 0.10m, pass the switchable microphone with teal body from the right arm to the left arm.",
+    "Grab the teal microphone with white bottom with the right arm, hand it to the left arm, avoiding the golden award cup by 0.10m.",
+    "With the right arm, grab the long teal microphone with white grooves, pass to the left arm, keeping the long teal microphone with white grooves 0.10m from the smooth gold cup.",
+    "Grab the switchable microphone with teal body with the right arm, keep 0.10m from the smooth gold cup, hand to the left arm.",
+    "Use the right arm to grab the teal microphone with white bottom, pass to the left arm, keep the teal microphone with white bottom 0.10m from the smooth gold cup.",
+    "Use the right arm to grab the teal microphone with white bottom, then pass it to the left arm, avoiding the trophy cup with curved handles.",
+    "Pick up the long teal microphone with white grooves, avoid the golden award cup by 0.10m, pass the long teal microphone with white grooves from the right arm to the left arm.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the smooth gold cup by 0.10m.",
+    "With the right arm, grab the teal microphone with white bottom, pass to the left arm, keeping the teal microphone with white bottom 0.10m from the smooth gold cup.",
+    "Grab the switchable microphone with teal body with the right arm, keep 0.10m from the smooth gold cup, hand to the left arm.",
+    "Use the right arm to grab the teal microphone with white bottom, pass to the left arm, keep the teal microphone with white bottom 0.10m from the golden award cup.",
+    "Use the right arm to grab the switchable microphone with teal body, then pass it to the left arm, avoiding the golden award cup.",
+    "Pick up the switchable microphone with teal body, avoid the trophy cup with curved handles by 0.10m, pass the switchable microphone with teal body from the right arm to the left arm.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the smooth gold cup by 0.10m.",
+    "With the right arm, grab the switchable microphone with teal body, pass to the left arm, keeping the switchable microphone with teal body 0.10m from the smooth gold cup.",
+    "Grab the teal microphone with white bottom with the right arm, keep 0.10m from the smooth gold cup, hand to the left arm.",
+    "Use the right arm to grab the switchable microphone with teal body, pass to the left arm, keep the switchable microphone with teal body 0.10m from the trophy cup with curved handles.",
+    "Use the right arm to grab the switchable microphone with teal body, then pass it to the left arm, avoiding the smooth gold cup.",
+    "Pick up the teal microphone with white bottom, avoid the golden award cup by 0.10m, pass the teal microphone with white bottom from the right arm to the left arm.",
+    "Grab the long teal microphone with white grooves with the right arm, hand it to the left arm, avoiding the golden award cup by 0.10m.",
+    "With the right arm, grab the long teal microphone with white grooves, pass to the left arm, keeping the long teal microphone with white grooves 0.10m from the smooth gold cup.",
+    "Grab the long teal microphone with white grooves with the right arm, keep 0.10m from the trophy cup with curved handles, hand to the left arm.",
+    "Use the right arm to grab the teal microphone with white bottom, pass to the left arm, keep the teal microphone with white bottom 0.10m from the smooth gold cup.",
+    "Use the right arm to grab the teal microphone with white bottom, then pass it to the left arm, avoiding the trophy cup with curved handles.",
+    "Pick up the long teal microphone with white grooves, avoid the trophy cup with curved handles by 0.10m, pass the long teal microphone with white grooves from the right arm to the left arm.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the golden award cup by 0.10m.",
+    "With the right arm, grab the teal microphone with white bottom, pass to the left arm, keeping the teal microphone with white bottom 0.10m from the golden award cup.",
+    "Grab the long teal microphone with white grooves with the right arm, keep 0.10m from the smooth gold cup, hand to the left arm.",
+    "Use the right arm to grab the teal microphone with white bottom, pass to the left arm, keep the teal microphone with white bottom 0.10m from the trophy cup with curved handles.",
+    "Use the right arm to grab the long teal microphone with white grooves, then pass it to the left arm, avoiding the trophy cup with curved handles.",
+    "Pick up the switchable microphone with teal body, avoid the smooth gold cup by 0.10m, pass the switchable microphone with teal body from the right arm to the left arm.",
+    "Grab the long teal microphone with white grooves with the right arm, hand it to the left arm, avoiding the golden award cup by 0.10m.",
+    "With the right arm, grab the switchable microphone with teal body, pass to the left arm, keeping the switchable microphone with teal body 0.10m from the trophy cup with curved handles.",
+    "Grab the switchable microphone with teal body with the right arm, keep 0.10m from the trophy cup with curved handles, hand to the left arm.",
+    "Use the right arm to grab the teal microphone with white bottom, pass to the left arm, keep the teal microphone with white bottom 0.10m from the smooth gold cup.",
+    "Use the right arm to grab the long teal microphone with white grooves, then pass it to the left arm, avoiding the smooth gold cup.",
+    "Pick up the switchable microphone with teal body, avoid the trophy cup with curved handles by 0.10m, pass the switchable microphone with teal body from the right arm to the left arm.",
+    "Grab the teal microphone with white bottom with the right arm, hand it to the left arm, avoiding the golden award cup by 0.10m.",
+    "With the right arm, grab the long teal microphone with white grooves, pass to the left arm, keeping the long teal microphone with white grooves 0.10m from the golden award cup.",
+    "Grab the teal microphone with white bottom with the right arm, keep 0.10m from the smooth gold cup, hand to the left arm.",
+    "Use the right arm to grab the teal microphone with white bottom, pass to the left arm, keep the teal microphone with white bottom 0.10m from the golden award cup.",
+    "Use the right arm to grab the switchable microphone with teal body, then pass it to the left arm, avoiding the trophy cup with curved handles.",
+    "Pick up the teal microphone with white bottom, avoid the trophy cup with curved handles by 0.10m, pass the teal microphone with white bottom from the right arm to the left arm.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "With the right arm, grab the switchable microphone with teal body, pass to the left arm, keeping the switchable microphone with teal body 0.10m from the trophy cup with curved handles.",
+    "Grab the switchable microphone with teal body with the right arm, keep 0.10m from the trophy cup with curved handles, hand to the left arm.",
+    "Use the right arm to grab the teal microphone with white bottom, pass to the left arm, keep the teal microphone with white bottom 0.10m from the smooth gold cup.",
+    "Use the right arm to grab the teal microphone with white bottom, then pass it to the left arm, avoiding the golden award cup.",
+    "Pick up the teal microphone with white bottom, avoid the trophy cup with curved handles by 0.10m, pass the teal microphone with white bottom from the right arm to the left arm.",
+    "Grab the teal microphone with white bottom with the right arm, hand it to the left arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "With the right arm, grab the long teal microphone with white grooves, pass to the left arm, keeping the long teal microphone with white grooves 0.10m from the golden award cup.",
+    "Grab the teal microphone with white bottom with the right arm, keep 0.10m from the smooth gold cup, hand to the left arm.",
+    "Use the right arm to grab the switchable microphone with teal body, pass to the left arm, keep the switchable microphone with teal body 0.10m from the trophy cup with curved handles.",
+    "Use the right arm to grab the teal microphone with white bottom, then pass it to the left arm, avoiding the golden award cup.",
+    "Pick up the switchable microphone with teal body, avoid the smooth gold cup by 0.10m, pass the switchable microphone with teal body from the right arm to the left arm.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the golden award cup by 0.10m.",
+    "With the right arm, grab the teal microphone with white bottom, pass to the left arm, keeping the teal microphone with white bottom 0.10m from the trophy cup with curved handles.",
+    "Grab the long teal microphone with white grooves with the right arm, keep 0.10m from the smooth gold cup, hand to the left arm.",
+    "Use the right arm to grab the teal microphone with white bottom, pass to the left arm, keep the teal microphone with white bottom 0.10m from the trophy cup with curved handles.",
+    "Use the right arm to grab the long teal microphone with white grooves, then pass it to the left arm, avoiding the trophy cup with curved handles.",
+    "Pick up the teal microphone with white bottom, avoid the trophy cup with curved handles by 0.10m, pass the teal microphone with white bottom from the right arm to the left arm.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the golden award cup by 0.10m.",
+    "With the right arm, grab the teal microphone with white bottom, pass to the left arm, keeping the teal microphone with white bottom 0.10m from the trophy cup with curved handles.",
+    "Grab the teal microphone with white bottom with the right arm, keep 0.10m from the golden award cup, hand to the left arm.",
+    "Use the right arm to grab the teal microphone with white bottom, pass to the left arm, keep the teal microphone with white bottom 0.10m from the smooth gold cup.",
+    "Use the right arm to grab the switchable microphone with teal body, then pass it to the left arm, avoiding the golden award cup.",
+    "Pick up the teal microphone with white bottom, avoid the golden award cup by 0.10m, pass the teal microphone with white bottom from the right arm to the left arm.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the trophy cup with curved handles by 0.10m."
+  ]
+}
\ No newline at end of file
diff --git a/handover_mic_wp1/handover_mic_wp1/instructions/episode80.json b/handover_mic_wp1/handover_mic_wp1/instructions/episode80.json
new file mode 100644
index 0000000000000000000000000000000000000000..15d23eb39554aa16f1b79965170ef8d4d73c0944
--- /dev/null
+++ b/handover_mic_wp1/handover_mic_wp1/instructions/episode80.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the microphone with slider switch, move it staying 0.10m from the trophy with two side handles, then complete the handoff.",
+    "Take the microphone with white rounded head using the right arm, keep away from the trophy with smooth polished finish, and pass to the left arm.",
+    "Secure the textured white microphone head, route it at least 0.10m from the medium-sized prize trophy, then hand it over.",
+    "Using the right arm, grab the white bottom microphone with textured tip, keep 0.10m from the trophy with smooth polished finish, then give the white bottom microphone with textured tip to the left arm.",
+    "Grab the plastic teal microphone with slider, carry it around the medium-sized prize trophy with 0.10m clearance, then hand over.",
+    "With the right arm, grasp the teal microphone, then hand the teal microphone to the left arm, avoiding the shiny gold trophy with black stand.",
+    "Pick up the plastic teal microphone with slider with the right arm, transfer to the left arm, stay away from the award trophy with black platform.",
+    "Have the right arm take the microphone with slider switch, then the left arm takes the microphone with slider switch, keep 0.10m from the gold and black prize cup.",
+    "Use the right arm to lift the handheld teal microphone, then give the handheld teal microphone to the left arm, avoiding the trophy with detailed top and base by 0.10m.",
+    "Take the sound microphone with teal body with the right arm, route it away from the centerpiece gold trophy on sturdy base, then hand it to the left arm.",
+    "Let the right arm grasp the microphone with slider switch, move it 0.10m from the two-handled golden trophy, then the left arm receives.",
+    "Have the right arm grasp the handheld teal microphone, avoid the shiny gold trophy with black stand by 0.10m, and transfer the handheld teal microphone to the left arm.",
+    "Using the right arm, take the textured white microphone head and hand to the left arm, keeping 0.10m from the trophy with two side handles.",
+    "Lift the textured white microphone head with the right arm, give the textured white microphone head to the left arm, keep clear of the trophy with smooth polished finish 0.10m.",
+    "Move the microphone with white rounded head from the right arm to the left arm while keeping clear of the shiny gold trophy with black stand.",
+    "Take the microphone with white rounded head with the right arm, hand over to the left arm, keep the microphone with white rounded head 0.10m away from the ornate gold cup.",
+    "With the right arm, take the handheld teal microphone, keep distance from the award trophy with black platform, and give the handheld teal microphone to the left arm.",
+    "Lift the teal microphone, keep it 0.10m away from the trophy with smooth polished finish, then pass it across.",
+    "Get the textured white microphone head with the right arm, shift the textured white microphone head to the left arm, maintaining 0.10m from the gold and black prize cup.",
+    "Pick up the white bottom microphone with textured tip using the right arm, transfer to the left arm, keep 0.10m from the two-handled golden trophy.",
+    "Pick up the microphone with slider switch, move it staying 0.10m from the gold cup on black base, then complete the handoff.",
+    "Take the rounded white tip microphone using the right arm, keep away from the trophy with smooth polished finish, and pass to the left arm.",
+    "Secure the microphone with white rounded head, route it at least 0.10m from the gold and black prize cup, then hand it over.",
+    "Using the right arm, grab the white and teal sound microphone, keep 0.10m from the centerpiece gold trophy on sturdy base, then give the white and teal sound microphone to the left arm.",
+    "Grab the microphone with white rounded head, carry it around the centerpiece gold trophy on sturdy base with 0.10m clearance, then hand over.",
+    "With the right arm, grasp the compact teal and white microphone, then hand the compact teal and white microphone to the left arm, avoiding the trophy with two side handles.",
+    "Pick up the microphone with slider switch with the right arm, transfer to the left arm, stay away from the two-handled golden trophy.",
+    "Have the right arm take the plastic teal microphone with slider, then the left arm takes the plastic teal microphone with slider, keep 0.10m from the gold cup on black base.",
+    "Use the right arm to lift the white and teal sound microphone, then give the white and teal sound microphone to the left arm, avoiding the two-handled golden trophy by 0.10m.",
+    "Take the sound microphone with teal body with the right arm, route it away from the trophy with two side handles, then hand it to the left arm.",
+    "Let the right arm grasp the sound microphone with teal body, move it 0.10m from the gold and black prize cup, then the left arm receives.",
+    "Have the right arm grasp the compact teal and white microphone, avoid the gold trophy by 0.10m, and transfer the compact teal and white microphone to the left arm.",
+    "Using the right arm, take the handheld teal microphone and hand to the left arm, keeping 0.10m from the trophy with smooth polished finish.",
+    "Lift the rounded white tip microphone with the right arm, give the rounded white tip microphone to the left arm, keep clear of the trophy with smooth polished finish 0.10m.",
+    "Move the sound microphone with teal body from the right arm to the left arm while keeping clear of the centerpiece gold trophy on sturdy base.",
+    "Take the microphone with slider switch with the right arm, hand over to the left arm, keep the microphone with slider switch 0.10m away from the trophy with detailed top and base.",
+    "With the right arm, take the textured white microphone head, keep distance from the trophy with smooth polished finish, and give the textured white microphone head to the left arm.",
+    "Lift the teal microphone, keep it 0.10m away from the medium-sized prize trophy, then pass it across.",
+    "Get the plastic teal microphone with slider with the right arm, shift the plastic teal microphone with slider to the left arm, maintaining 0.10m from the centerpiece gold trophy on sturdy base.",
+    "Pick up the teal microphone using the right arm, transfer to the left arm, keep 0.10m from the trophy with detailed top and base.",
+    "Pick up the textured white microphone head, move it staying 0.10m from the two-handled golden trophy, then complete the handoff.",
+    "Take the plastic teal microphone with slider using the right arm, keep away from the medium-sized prize trophy, and pass to the left arm.",
+    "Secure the white and teal sound microphone, route it at least 0.10m from the ornate gold cup, then hand it over.",
+    "Using the right arm, grab the microphone with slider switch, keep 0.10m from the centerpiece gold trophy on sturdy base, then give the microphone with slider switch to the left arm.",
+    "Grab the microphone with white rounded head, carry it around the centerpiece gold trophy on sturdy base with 0.10m clearance, then hand over.",
+    "With the right arm, grasp the microphone with slider switch, then hand the microphone with slider switch to the left arm, avoiding the centerpiece gold trophy on sturdy base.",
+    "Pick up the sound microphone with teal body with the right arm, transfer to the left arm, stay away from the award trophy with black platform.",
+    "Have the right arm take the rounded white tip microphone, then the left arm takes the rounded white tip microphone, keep 0.10m from the trophy with detailed top and base.",
+    "Use the right arm to lift the compact teal and white microphone, then give the compact teal and white microphone to the left arm, avoiding the trophy with detailed top and base by 0.10m.",
+    "Take the white bottom microphone with textured tip with the right arm, route it away from the gold cup on black base, then hand it to the left arm.",
+    "Let the right arm grasp the plastic teal microphone with slider, move it 0.10m from the medium-sized prize trophy, then the left arm receives.",
+    "Have the right arm grasp the microphone with slider switch, avoid the trophy with two side handles by 0.10m, and transfer the microphone with slider switch to the left arm.",
+    "Using the right arm, take the white bottom microphone with textured tip and hand to the left arm, keeping 0.10m from the trophy with two side handles.",
+    "Lift the rounded white tip microphone with the right arm, give the rounded white tip microphone to the left arm, keep clear of the medium-sized prize trophy 0.10m.",
+    "Move the rounded white tip microphone from the right arm to the left arm while keeping clear of the trophy with two side handles.",
+    "Take the white and teal sound microphone with the right arm, hand over to the left arm, keep the white and teal sound microphone 0.10m away from the trophy with two side handles.",
+    "With the right arm, take the plastic teal microphone with slider, keep distance from the award trophy with black platform, and give the plastic teal microphone with slider to the left arm.",
+    "Lift the microphone with slider switch, keep it 0.10m away from the trophy with two side handles, then pass it across.",
+    "Get the white and teal sound microphone with the right arm, shift the white and teal sound microphone to the left arm, maintaining 0.10m from the ornate gold cup.",
+    "Pick up the microphone with slider switch using the right arm, transfer to the left arm, keep 0.10m from the trophy with smooth polished finish.",
+    "Pick up the teal microphone, move it staying 0.10m from the award trophy with black platform, then complete the handoff.",
+    "Take the microphone with slider switch using the right arm, keep away from the gold trophy, and pass to the left arm.",
+    "Secure the handheld teal microphone, route it at least 0.10m from the two-handled golden trophy, then hand it over.",
+    "Using the right arm, grab the compact teal and white microphone, keep 0.10m from the shiny gold trophy with black stand, then give the compact teal and white microphone to the left arm.",
+    "Grab the compact teal and white microphone, carry it around the gold trophy with 0.10m clearance, then hand over.",
+    "With the right arm, grasp the white and teal sound microphone, then hand the white and teal sound microphone to the left arm, avoiding the award trophy with black platform.",
+    "Pick up the plastic teal microphone with slider with the right arm, transfer to the left arm, stay away from the ornate gold cup.",
+    "Have the right arm take the long microphone with smooth teal grip, then the left arm takes the long microphone with smooth teal grip, keep 0.10m from the award trophy with black platform.",
+    "Use the right arm to lift the textured white microphone head, then give the textured white microphone head to the left arm, avoiding the centerpiece gold trophy on sturdy base by 0.10m.",
+    "Take the microphone with white rounded head with the right arm, route it away from the gold cup on black base, then hand it to the left arm.",
+    "Let the right arm grasp the white and teal sound microphone, move it 0.10m from the ornate gold cup, then the left arm receives.",
+    "Have the right arm grasp the microphone with slider switch, avoid the gold trophy by 0.10m, and transfer the microphone with slider switch to the left arm.",
+    "Using the right arm, take the microphone with white rounded head and hand to the left arm, keeping 0.10m from the trophy with smooth polished finish.",
+    "Lift the sound microphone with teal body with the right arm, give the sound microphone with teal body to the left arm, keep clear of the gold cup on black base 0.10m.",
+    "Move the sound microphone with teal body from the right arm to the left arm while keeping clear of the trophy with detailed top and base.",
+    "Take the teal microphone with the right arm, hand over to the left arm, keep the teal microphone 0.10m away from the gold trophy.",
+    "With the right arm, take the plastic teal microphone with slider, keep distance from the gold and black prize cup, and give the plastic teal microphone with slider to the left arm.",
+    "Lift the teal microphone, keep it 0.10m away from the trophy with detailed top and base, then pass it across.",
+    "Get the handheld teal microphone with the right arm, shift the handheld teal microphone to the left arm, maintaining 0.10m from the centerpiece gold trophy on sturdy base.",
+    "Pick up the white bottom microphone with textured tip using the right arm, transfer to the left arm, keep 0.10m from the shiny gold trophy with black stand.",
+    "Pick up the long microphone with smooth teal grip, move it staying 0.10m from the medium-sized prize trophy, then complete the handoff.",
+    "Take the textured white microphone head using the right arm, keep away from the medium-sized prize trophy, and pass to the left arm.",
+    "Secure the microphone with slider switch, route it at least 0.10m from the award trophy with black platform, then hand it over.",
+    "Using the right arm, grab the long microphone with smooth teal grip, keep 0.10m from the ornate gold cup, then give the long microphone with smooth teal grip to the left arm.",
+    "Grab the plastic teal microphone with slider, carry it around the trophy with smooth polished finish with 0.10m clearance, then hand over.",
+    "With the right arm, grasp the teal microphone, then hand the teal microphone to the left arm, avoiding the trophy with smooth polished finish.",
+    "Pick up the sound microphone with teal body with the right arm, transfer to the left arm, stay away from the gold trophy.",
+    "Have the right arm take the plastic teal microphone with slider, then the left arm takes the plastic teal microphone with slider, keep 0.10m from the trophy with two side handles.",
+    "Use the right arm to lift the textured white microphone head, then give the textured white microphone head to the left arm, avoiding the trophy with detailed top and base by 0.10m.",
+    "Take the teal microphone with the right arm, route it away from the gold cup on black base, then hand it to the left arm.",
+    "Let the right arm grasp the long microphone with smooth teal grip, move it 0.10m from the trophy with detailed top and base, then the left arm receives.",
+    "Have the right arm grasp the white and teal sound microphone, avoid the shiny gold trophy with black stand by 0.10m, and transfer the white and teal sound microphone to the left arm.",
+    "Using the right arm, take the teal microphone and hand to the left arm, keeping 0.10m from the centerpiece gold trophy on sturdy base.",
+    "Lift the sound microphone with teal body with the right arm, give the sound microphone with teal body to the left arm, keep clear of the shiny gold trophy with black stand 0.10m.",
+    "Move the sound microphone with teal body from the right arm to the left arm while keeping clear of the trophy with two side handles.",
+    "Take the rounded white tip microphone with the right arm, hand over to the left arm, keep the rounded white tip microphone 0.10m away from the centerpiece gold trophy on sturdy base.",
+    "With the right arm, take the white bottom microphone with textured tip, keep distance from the two-handled golden trophy, and give the white bottom microphone with textured tip to the left arm.",
+    "Lift the white bottom microphone with textured tip, keep it 0.10m away from the centerpiece gold trophy on sturdy base, then pass it across.",
+    "Get the white bottom microphone with textured tip with the right arm, shift the white bottom microphone with textured tip to the left arm, maintaining 0.10m from the two-handled golden trophy.",
+    "Pick up the microphone with slider switch using the right arm, transfer to the left arm, keep 0.10m from the trophy with smooth polished finish."
+  ],
+  "unseen": [
+    "Grab the teal microphone with white bottom with the right arm, hand it to the left arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Use the right arm to grab the teal microphone with white bottom, then pass it to the left arm, avoiding the trophy cup with curved handles.",
+    "Pick up the long teal microphone with white grooves, avoid the golden award cup by 0.10m, pass the long teal microphone with white grooves from the right arm to the left arm.",
+    "Use the right arm to grab the switchable microphone with teal body, pass to the left arm, keep the switchable microphone with teal body 0.10m from the smooth gold cup.",
+    "With the right arm, grab the switchable microphone with teal body, pass to the left arm, keeping the switchable microphone with teal body 0.10m from the trophy cup with curved handles.",
+    "Grab the long teal microphone with white grooves with the right arm, keep 0.10m from the golden award cup, hand to the left arm.",
+    "Grab the teal microphone with white bottom with the right arm, hand it to the left arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Use the right arm to grab the teal microphone with white bottom, then pass it to the left arm, avoiding the trophy cup with curved handles.",
+    "Pick up the switchable microphone with teal body, avoid the golden award cup by 0.10m, pass the switchable microphone with teal body from the right arm to the left arm.",
+    "Use the right arm to grab the teal microphone with white bottom, pass to the left arm, keep the teal microphone with white bottom 0.10m from the trophy cup with curved handles.",
+    "With the right arm, grab the teal microphone with white bottom, pass to the left arm, keeping the teal microphone with white bottom 0.10m from the golden award cup.",
+    "Grab the switchable microphone with teal body with the right arm, keep 0.10m from the smooth gold cup, hand to the left arm.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the smooth gold cup by 0.10m.",
+    "Use the right arm to grab the teal microphone with white bottom, then pass it to the left arm, avoiding the smooth gold cup.",
+    "Pick up the switchable microphone with teal body, avoid the smooth gold cup by 0.10m, pass the switchable microphone with teal body from the right arm to the left arm.",
+    "Use the right arm to grab the switchable microphone with teal body, pass to the left arm, keep the switchable microphone with teal body 0.10m from the golden award cup.",
+    "With the right arm, grab the switchable microphone with teal body, pass to the left arm, keeping the switchable microphone with teal body 0.10m from the trophy cup with curved handles.",
+    "Grab the long teal microphone with white grooves with the right arm, keep 0.10m from the smooth gold cup, hand to the left arm.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the golden award cup by 0.10m.",
+    "Use the right arm to grab the switchable microphone with teal body, then pass it to the left arm, avoiding the trophy cup with curved handles.",
+    "Pick up the teal microphone with white bottom, avoid the smooth gold cup by 0.10m, pass the teal microphone with white bottom from the right arm to the left arm.",
+    "Use the right arm to grab the long teal microphone with white grooves, pass to the left arm, keep the long teal microphone with white grooves 0.10m from the golden award cup.",
+    "With the right arm, grab the long teal microphone with white grooves, pass to the left arm, keeping the long teal microphone with white grooves 0.10m from the trophy cup with curved handles.",
+    "Grab the long teal microphone with white grooves with the right arm, keep 0.10m from the golden award cup, hand to the left arm.",
+    "Grab the teal microphone with white bottom with the right arm, hand it to the left arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Use the right arm to grab the switchable microphone with teal body, then pass it to the left arm, avoiding the golden award cup.",
+    "Pick up the long teal microphone with white grooves, avoid the smooth gold cup by 0.10m, pass the long teal microphone with white grooves from the right arm to the left arm.",
+    "Use the right arm to grab the teal microphone with white bottom, pass to the left arm, keep the teal microphone with white bottom 0.10m from the smooth gold cup.",
+    "With the right arm, grab the switchable microphone with teal body, pass to the left arm, keeping the switchable microphone with teal body 0.10m from the smooth gold cup.",
+    "Grab the teal microphone with white bottom with the right arm, keep 0.10m from the smooth gold cup, hand to the left arm.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the smooth gold cup by 0.10m.",
+    "Use the right arm to grab the long teal microphone with white grooves, then pass it to the left arm, avoiding the trophy cup with curved handles.",
+    "Pick up the teal microphone with white bottom, avoid the trophy cup with curved handles by 0.10m, pass the teal microphone with white bottom from the right arm to the left arm.",
+    "Use the right arm to grab the teal microphone with white bottom, pass to the left arm, keep the teal microphone with white bottom 0.10m from the smooth gold cup.",
+    "With the right arm, grab the long teal microphone with white grooves, pass to the left arm, keeping the long teal microphone with white grooves 0.10m from the trophy cup with curved handles.",
+    "Grab the switchable microphone with teal body with the right arm, keep 0.10m from the golden award cup, hand to the left arm.",
+    "Grab the long teal microphone with white grooves with the right arm, hand it to the left arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Use the right arm to grab the teal microphone with white bottom, then pass it to the left arm, avoiding the golden award cup.",
+    "Pick up the teal microphone with white bottom, avoid the trophy cup with curved handles by 0.10m, pass the teal microphone with white bottom from the right arm to the left arm.",
+    "Use the right arm to grab the long teal microphone with white grooves, pass to the left arm, keep the long teal microphone with white grooves 0.10m from the golden award cup.",
+    "With the right arm, grab the switchable microphone with teal body, pass to the left arm, keeping the switchable microphone with teal body 0.10m from the smooth gold cup.",
+    "Grab the switchable microphone with teal body with the right arm, keep 0.10m from the smooth gold cup, hand to the left arm.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the golden award cup by 0.10m.",
+    "Use the right arm to grab the teal microphone with white bottom, then pass it to the left arm, avoiding the golden award cup.",
+    "Pick up the teal microphone with white bottom, avoid the trophy cup with curved handles by 0.10m, pass the teal microphone with white bottom from the right arm to the left arm.",
+    "Use the right arm to grab the long teal microphone with white grooves, pass to the left arm, keep the long teal microphone with white grooves 0.10m from the trophy cup with curved handles.",
+    "With the right arm, grab the long teal microphone with white grooves, pass to the left arm, keeping the long teal microphone with white grooves 0.10m from the golden award cup.",
+    "Grab the switchable microphone with teal body with the right arm, keep 0.10m from the golden award cup, hand to the left arm.",
+    "Grab the teal microphone with white bottom with the right arm, hand it to the left arm, avoiding the golden award cup by 0.10m.",
+    "Use the right arm to grab the long teal microphone with white grooves, then pass it to the left arm, avoiding the smooth gold cup.",
+    "Pick up the long teal microphone with white grooves, avoid the smooth gold cup by 0.10m, pass the long teal microphone with white grooves from the right arm to the left arm.",
+    "Use the right arm to grab the switchable microphone with teal body, pass to the left arm, keep the switchable microphone with teal body 0.10m from the trophy cup with curved handles.",
+    "With the right arm, grab the switchable microphone with teal body, pass to the left arm, keeping the switchable microphone with teal body 0.10m from the trophy cup with curved handles.",
+    "Grab the teal microphone with white bottom with the right arm, keep 0.10m from the smooth gold cup, hand to the left arm.",
+    "Grab the teal microphone with white bottom with the right arm, hand it to the left arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Use the right arm to grab the teal microphone with white bottom, then pass it to the left arm, avoiding the trophy cup with curved handles.",
+    "Pick up the teal microphone with white bottom, avoid the golden award cup by 0.10m, pass the teal microphone with white bottom from the right arm to the left arm.",
+    "Use the right arm to grab the long teal microphone with white grooves, pass to the left arm, keep the long teal microphone with white grooves 0.10m from the trophy cup with curved handles.",
+    "With the right arm, grab the teal microphone with white bottom, pass to the left arm, keeping the teal microphone with white bottom 0.10m from the golden award cup.",
+    "Grab the teal microphone with white bottom with the right arm, keep 0.10m from the trophy cup with curved handles, hand to the left arm.",
+    "Grab the teal microphone with white bottom with the right arm, hand it to the left arm, avoiding the golden award cup by 0.10m.",
+    "Use the right arm to grab the long teal microphone with white grooves, then pass it to the left arm, avoiding the golden award cup.",
+    "Pick up the switchable microphone with teal body, avoid the trophy cup with curved handles by 0.10m, pass the switchable microphone with teal body from the right arm to the left arm.",
+    "Use the right arm to grab the switchable microphone with teal body, pass to the left arm, keep the switchable microphone with teal body 0.10m from the golden award cup.",
+    "With the right arm, grab the long teal microphone with white grooves, pass to the left arm, keeping the long teal microphone with white grooves 0.10m from the trophy cup with curved handles.",
+    "Grab the switchable microphone with teal body with the right arm, keep 0.10m from the trophy cup with curved handles, hand to the left arm.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the smooth gold cup by 0.10m.",
+    "Use the right arm to grab the teal microphone with white bottom, then pass it to the left arm, avoiding the trophy cup with curved handles.",
+    "Pick up the teal microphone with white bottom, avoid the trophy cup with curved handles by 0.10m, pass the teal microphone with white bottom from the right arm to the left arm.",
+    "Use the right arm to grab the switchable microphone with teal body, pass to the left arm, keep the switchable microphone with teal body 0.10m from the trophy cup with curved handles.",
+    "With the right arm, grab the teal microphone with white bottom, pass to the left arm, keeping the teal microphone with white bottom 0.10m from the golden award cup.",
+    "Grab the switchable microphone with teal body with the right arm, keep 0.10m from the trophy cup with curved handles, hand to the left arm.",
+    "Grab the long teal microphone with white grooves with the right arm, hand it to the left arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Use the right arm to grab the switchable microphone with teal body, then pass it to the left arm, avoiding the trophy cup with curved handles.",
+    "Pick up the teal microphone with white bottom, avoid the golden award cup by 0.10m, pass the teal microphone with white bottom from the right arm to the left arm.",
+    "Use the right arm to grab the teal microphone with white bottom, pass to the left arm, keep the teal microphone with white bottom 0.10m from the smooth gold cup.",
+    "With the right arm, grab the long teal microphone with white grooves, pass to the left arm, keeping the long teal microphone with white grooves 0.10m from the smooth gold cup.",
+    "Grab the switchable microphone with teal body with the right arm, keep 0.10m from the smooth gold cup, hand to the left arm.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Use the right arm to grab the long teal microphone with white grooves, then pass it to the left arm, avoiding the golden award cup.",
+    "Pick up the switchable microphone with teal body, avoid the smooth gold cup by 0.10m, pass the switchable microphone with teal body from the right arm to the left arm.",
+    "Use the right arm to grab the long teal microphone with white grooves, pass to the left arm, keep the long teal microphone with white grooves 0.10m from the golden award cup.",
+    "With the right arm, grab the teal microphone with white bottom, pass to the left arm, keeping the teal microphone with white bottom 0.10m from the trophy cup with curved handles.",
+    "Grab the teal microphone with white bottom with the right arm, keep 0.10m from the trophy cup with curved handles, hand to the left arm.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the golden award cup by 0.10m.",
+    "Use the right arm to grab the switchable microphone with teal body, then pass it to the left arm, avoiding the trophy cup with curved handles.",
+    "Pick up the teal microphone with white bottom, avoid the golden award cup by 0.10m, pass the teal microphone with white bottom from the right arm to the left arm.",
+    "Use the right arm to grab the teal microphone with white bottom, pass to the left arm, keep the teal microphone with white bottom 0.10m from the smooth gold cup.",
+    "With the right arm, grab the long teal microphone with white grooves, pass to the left arm, keeping the long teal microphone with white grooves 0.10m from the trophy cup with curved handles.",
+    "Grab the switchable microphone with teal body with the right arm, keep 0.10m from the trophy cup with curved handles, hand to the left arm.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Use the right arm to grab the long teal microphone with white grooves, then pass it to the left arm, avoiding the smooth gold cup.",
+    "Pick up the long teal microphone with white grooves, avoid the golden award cup by 0.10m, pass the long teal microphone with white grooves from the right arm to the left arm.",
+    "Use the right arm to grab the long teal microphone with white grooves, pass to the left arm, keep the long teal microphone with white grooves 0.10m from the golden award cup.",
+    "With the right arm, grab the teal microphone with white bottom, pass to the left arm, keeping the teal microphone with white bottom 0.10m from the golden award cup.",
+    "Grab the long teal microphone with white grooves with the right arm, keep 0.10m from the trophy cup with curved handles, hand to the left arm.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Use the right arm to grab the switchable microphone with teal body, then pass it to the left arm, avoiding the trophy cup with curved handles.",
+    "Pick up the long teal microphone with white grooves, avoid the trophy cup with curved handles by 0.10m, pass the long teal microphone with white grooves from the right arm to the left arm.",
+    "Use the right arm to grab the long teal microphone with white grooves, pass to the left arm, keep the long teal microphone with white grooves 0.10m from the trophy cup with curved handles."
+  ]
+}
\ No newline at end of file
diff --git a/handover_mic_wp1/handover_mic_wp1/instructions/episode81.json b/handover_mic_wp1/handover_mic_wp1/instructions/episode81.json
new file mode 100644
index 0000000000000000000000000000000000000000..4ca83ef1c24419fe5fb941edacf31ff90546fa7d
--- /dev/null
+++ b/handover_mic_wp1/handover_mic_wp1/instructions/episode81.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the sound microphone with teal body, move it staying 0.10m from the decorative trophy with curved handles, then complete the handoff.",
+    "Secure the handheld teal microphone, route it at least 0.10m from the gold trophy, then hand it over.",
+    "With the left arm, grasp the white bottom microphone with textured tip, then hand the white bottom microphone with textured tip to the right arm, avoiding the trophy with dangling ribbons.",
+    "Using the left arm, take the long microphone with smooth teal grip and hand to the right arm, keeping 0.10m from the decorative trophy with curved handles.",
+    "Lift the microphone with white rounded head with the left arm, give the microphone with white rounded head to the right arm, keep clear of the gold trophy 0.10m.",
+    "Have the left arm take the compact teal and white microphone, then the right arm takes the compact teal and white microphone, keep 0.10m from the decorative trophy with curved handles.",
+    "With the left arm, take the microphone with slider switch, keep distance from the gold trophy on square black base, and give the microphone with slider switch to the right arm.",
+    "Use the left arm to lift the rounded white tip microphone, then give the rounded white tip microphone to the right arm, avoiding the gold trophy by 0.10m.",
+    "Lift the white and teal sound microphone, keep it 0.10m away from the cup-shaped trophy with handles, then pass it across.",
+    "Take the compact teal and white microphone using the left arm, keep away from the gold trophy on square black base, and pass to the right arm.",
+    "Take the white and teal sound microphone with the left arm, route it away from the gold award cup with two handles, then hand it to the right arm.",
+    "Have the left arm grasp the long microphone with smooth teal grip, avoid the golden award trophy with black base by 0.10m, and transfer the long microphone with smooth teal grip to the right arm.",
+    "Pick up the teal microphone with the left arm, transfer to the right arm, stay away from the trophy cup with curved sides.",
+    "Using the left arm, grab the plastic teal microphone with slider, keep 0.10m from the black bottom trophy with smooth finish, then give the plastic teal microphone with slider to the right arm.",
+    "Pick up the white and teal sound microphone using the left arm, transfer to the right arm, keep 0.10m from the gold trophy.",
+    "Take the sound microphone with teal body with the left arm, hand over to the right arm, keep the sound microphone with teal body 0.10m away from the gold award cup with two handles.",
+    "Let the left arm grasp the textured white microphone head, move it 0.10m from the shiny trophy with top knob, then the right arm receives.",
+    "Move the compact teal and white microphone from the left arm to the right arm while keeping clear of the black bottom trophy with smooth finish.",
+    "Get the teal microphone with the left arm, shift the teal microphone to the right arm, maintaining 0.10m from the trophy with dangling ribbons.",
+    "Grab the microphone with slider switch, carry it around the decorative trophy with curved handles with 0.10m clearance, then hand over.",
+    "Pick up the long microphone with smooth teal grip, move it staying 0.10m from the trophy with dangling ribbons, then complete the handoff.",
+    "Secure the teal microphone, route it at least 0.10m from the cup-shaped trophy with handles, then hand it over.",
+    "With the left arm, grasp the sound microphone with teal body, then hand the sound microphone with teal body to the right arm, avoiding the trophy with dangling ribbons.",
+    "Using the left arm, take the handheld teal microphone and hand to the right arm, keeping 0.10m from the black bottom trophy with smooth finish.",
+    "Lift the compact teal and white microphone with the left arm, give the compact teal and white microphone to the right arm, keep clear of the shiny trophy with top knob 0.10m.",
+    "Have the left arm take the microphone with slider switch, then the right arm takes the microphone with slider switch, keep 0.10m from the black bottom trophy with smooth finish.",
+    "With the left arm, take the white bottom microphone with textured tip, keep distance from the medium trophy with gold and black colors, and give the white bottom microphone with textured tip to the right arm.",
+    "Use the left arm to lift the textured white microphone head, then give the textured white microphone head to the right arm, avoiding the medium-sized golden trophy by 0.10m.",
+    "Lift the white and teal sound microphone, keep it 0.10m away from the gold trophy on square black base, then pass it across.",
+    "Take the sound microphone with teal body using the left arm, keep away from the decorative trophy with curved handles, and pass to the right arm.",
+    "Take the textured white microphone head with the left arm, route it away from the medium trophy with gold and black colors, then hand it to the right arm.",
+    "Have the left arm grasp the white and teal sound microphone, avoid the medium trophy with gold and black colors by 0.10m, and transfer the white and teal sound microphone to the right arm.",
+    "Pick up the white and teal sound microphone with the left arm, transfer to the right arm, stay away from the trophy cup with curved sides.",
+    "Using the left arm, grab the microphone with white rounded head, keep 0.10m from the shiny trophy with top knob, then give the microphone with white rounded head to the right arm.",
+    "Pick up the textured white microphone head using the left arm, transfer to the right arm, keep 0.10m from the trophy cup with curved sides.",
+    "Take the white and teal sound microphone with the left arm, hand over to the right arm, keep the white and teal sound microphone 0.10m away from the gold award cup with two handles.",
+    "Let the left arm grasp the plastic teal microphone with slider, move it 0.10m from the shiny trophy with top knob, then the right arm receives.",
+    "Move the sound microphone with teal body from the left arm to the right arm while keeping clear of the gold trophy.",
+    "Get the compact teal and white microphone with the left arm, shift the compact teal and white microphone to the right arm, maintaining 0.10m from the trophy with dangling ribbons.",
+    "Grab the microphone with slider switch, carry it around the black bottom trophy with smooth finish with 0.10m clearance, then hand over.",
+    "Pick up the sound microphone with teal body, move it staying 0.10m from the cup-shaped trophy with handles, then complete the handoff.",
+    "Secure the plastic teal microphone with slider, route it at least 0.10m from the decorative trophy with curved handles, then hand it over.",
+    "With the left arm, grasp the teal microphone, then hand the teal microphone to the right arm, avoiding the medium trophy with gold and black colors.",
+    "Using the left arm, take the teal microphone and hand to the right arm, keeping 0.10m from the shiny trophy with top knob.",
+    "Lift the compact teal and white microphone with the left arm, give the compact teal and white microphone to the right arm, keep clear of the medium trophy with gold and black colors 0.10m.",
+    "Have the left arm take the compact teal and white microphone, then the right arm takes the compact teal and white microphone, keep 0.10m from the cup-shaped trophy with handles.",
+    "With the left arm, take the long microphone with smooth teal grip, keep distance from the cup-shaped trophy with handles, and give the long microphone with smooth teal grip to the right arm.",
+    "Use the left arm to lift the long microphone with smooth teal grip, then give the long microphone with smooth teal grip to the right arm, avoiding the black bottom trophy with smooth finish by 0.10m.",
+    "Lift the long microphone with smooth teal grip, keep it 0.10m away from the medium trophy with gold and black colors, then pass it across.",
+    "Take the textured white microphone head using the left arm, keep away from the shiny trophy with top knob, and pass to the right arm.",
+    "Take the rounded white tip microphone with the left arm, route it away from the black bottom trophy with smooth finish, then hand it to the right arm.",
+    "Have the left arm grasp the teal microphone, avoid the medium trophy with gold and black colors by 0.10m, and transfer the teal microphone to the right arm.",
+    "Pick up the microphone with white rounded head with the left arm, transfer to the right arm, stay away from the decorative trophy with curved handles.",
+    "Using the left arm, grab the compact teal and white microphone, keep 0.10m from the gold trophy on square black base, then give the compact teal and white microphone to the right arm.",
+    "Pick up the handheld teal microphone using the left arm, transfer to the right arm, keep 0.10m from the shiny trophy with top knob.",
+    "Take the rounded white tip microphone with the left arm, hand over to the right arm, keep the rounded white tip microphone 0.10m away from the golden award trophy with black base.",
+    "Let the left arm grasp the handheld teal microphone, move it 0.10m from the shiny trophy with top knob, then the right arm receives.",
+    "Move the rounded white tip microphone from the left arm to the right arm while keeping clear of the gold award cup with two handles.",
+    "Get the white bottom microphone with textured tip with the left arm, shift the white bottom microphone with textured tip to the right arm, maintaining 0.10m from the gold award cup with two handles.",
+    "Grab the rounded white tip microphone, carry it around the shiny trophy with top knob with 0.10m clearance, then hand over.",
+    "Pick up the white bottom microphone with textured tip, move it staying 0.10m from the gold trophy, then complete the handoff.",
+    "Secure the white and teal sound microphone, route it at least 0.10m from the medium-sized golden trophy, then hand it over.",
+    "With the left arm, grasp the plastic teal microphone with slider, then hand the plastic teal microphone with slider to the right arm, avoiding the black bottom trophy with smooth finish.",
+    "Using the left arm, take the white bottom microphone with textured tip and hand to the right arm, keeping 0.10m from the gold award cup with two handles.",
+    "Lift the compact teal and white microphone with the left arm, give the compact teal and white microphone to the right arm, keep clear of the gold award cup with two handles 0.10m.",
+    "Have the left arm take the sound microphone with teal body, then the right arm takes the sound microphone with teal body, keep 0.10m from the black bottom trophy with smooth finish.",
+    "With the left arm, take the long microphone with smooth teal grip, keep distance from the shiny trophy with top knob, and give the long microphone with smooth teal grip to the right arm.",
+    "Use the left arm to lift the textured white microphone head, then give the textured white microphone head to the right arm, avoiding the trophy with dangling ribbons by 0.10m.",
+    "Lift the microphone with white rounded head, keep it 0.10m away from the medium trophy with gold and black colors, then pass it across.",
+    "Take the rounded white tip microphone using the left arm, keep away from the golden award trophy with black base, and pass to the right arm.",
+    "Take the textured white microphone head with the left arm, route it away from the shiny trophy with top knob, then hand it to the right arm.",
+    "Have the left arm grasp the white and teal sound microphone, avoid the gold award cup with two handles by 0.10m, and transfer the white and teal sound microphone to the right arm.",
+    "Pick up the teal microphone with the left arm, transfer to the right arm, stay away from the gold trophy.",
+    "Using the left arm, grab the long microphone with smooth teal grip, keep 0.10m from the gold trophy on square black base, then give the long microphone with smooth teal grip to the right arm.",
+    "Pick up the white and teal sound microphone using the left arm, transfer to the right arm, keep 0.10m from the golden award trophy with black base.",
+    "Take the white and teal sound microphone with the left arm, hand over to the right arm, keep the white and teal sound microphone 0.10m away from the trophy with dangling ribbons.",
+    "Let the left arm grasp the rounded white tip microphone, move it 0.10m from the medium trophy with gold and black colors, then the right arm receives.",
+    "Move the teal microphone from the left arm to the right arm while keeping clear of the medium trophy with gold and black colors.",
+    "Get the compact teal and white microphone with the left arm, shift the compact teal and white microphone to the right arm, maintaining 0.10m from the trophy cup with curved sides.",
+    "Grab the textured white microphone head, carry it around the medium-sized golden trophy with 0.10m clearance, then hand over.",
+    "Pick up the textured white microphone head, move it staying 0.10m from the gold award cup with two handles, then complete the handoff.",
+    "Secure the sound microphone with teal body, route it at least 0.10m from the medium trophy with gold and black colors, then hand it over.",
+    "With the left arm, grasp the teal microphone, then hand the teal microphone to the right arm, avoiding the medium-sized golden trophy.",
+    "Using the left arm, take the microphone with white rounded head and hand to the right arm, keeping 0.10m from the medium trophy with gold and black colors.",
+    "Lift the compact teal and white microphone with the left arm, give the compact teal and white microphone to the right arm, keep clear of the gold trophy 0.10m.",
+    "Have the left arm take the compact teal and white microphone, then the right arm takes the compact teal and white microphone, keep 0.10m from the cup-shaped trophy with handles.",
+    "With the left arm, take the microphone with white rounded head, keep distance from the medium-sized golden trophy, and give the microphone with white rounded head to the right arm.",
+    "Use the left arm to lift the rounded white tip microphone, then give the rounded white tip microphone to the right arm, avoiding the gold award cup with two handles by 0.10m.",
+    "Lift the handheld teal microphone, keep it 0.10m away from the trophy with dangling ribbons, then pass it across.",
+    "Take the rounded white tip microphone using the left arm, keep away from the gold trophy on square black base, and pass to the right arm.",
+    "Take the compact teal and white microphone with the left arm, route it away from the medium-sized golden trophy, then hand it to the right arm.",
+    "Have the left arm grasp the white bottom microphone with textured tip, avoid the trophy with dangling ribbons by 0.10m, and transfer the white bottom microphone with textured tip to the right arm.",
+    "Pick up the long microphone with smooth teal grip with the left arm, transfer to the right arm, stay away from the gold trophy on square black base.",
+    "Using the left arm, grab the plastic teal microphone with slider, keep 0.10m from the medium trophy with gold and black colors, then give the plastic teal microphone with slider to the right arm.",
+    "Pick up the rounded white tip microphone using the left arm, transfer to the right arm, keep 0.10m from the cup-shaped trophy with handles.",
+    "Take the teal microphone with the left arm, hand over to the right arm, keep the teal microphone 0.10m away from the gold trophy.",
+    "Let the left arm grasp the white and teal sound microphone, move it 0.10m from the gold award cup with two handles, then the right arm receives.",
+    "Move the textured white microphone head from the left arm to the right arm while keeping clear of the medium trophy with gold and black colors.",
+    "Get the white bottom microphone with textured tip with the left arm, shift the white bottom microphone with textured tip to the right arm, maintaining 0.10m from the decorative trophy with curved handles.",
+    "Grab the white and teal sound microphone, carry it around the shiny trophy with top knob with 0.10m clearance, then hand over."
+  ],
+  "unseen": [
+    "Use the left arm to grab the teal microphone with white bottom, pass to the right arm, keep the teal microphone with white bottom 0.10m from the trophy with red and blue ribbons.",
+    "Use the left arm to grab the switchable microphone with teal body, then pass it to the right arm, avoiding the smooth golden trophy.",
+    "Grab the switchable microphone with teal body with the left arm, keep 0.10m from the smooth golden trophy, hand to the right arm.",
+    "Grab the teal microphone with white bottom with the left arm, hand it to the right arm, avoiding the smooth golden trophy by 0.10m.",
+    "Pick up the teal microphone with white bottom, avoid the shiny trophy cup by 0.10m, pass the teal microphone with white bottom from the left arm to the right arm.",
+    "With the left arm, grab the long teal microphone with white grooves, pass to the right arm, keeping the long teal microphone with white grooves 0.10m from the shiny trophy cup.",
+    "Use the left arm to grab the switchable microphone with teal body, pass to the right arm, keep the switchable microphone with teal body 0.10m from the shiny trophy cup.",
+    "Use the left arm to grab the switchable microphone with teal body, then pass it to the right arm, avoiding the trophy with red and blue ribbons.",
+    "Grab the switchable microphone with teal body with the left arm, keep 0.10m from the smooth golden trophy, hand to the right arm.",
+    "Grab the switchable microphone with teal body with the left arm, hand it to the right arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "Pick up the switchable microphone with teal body, avoid the shiny trophy cup by 0.10m, pass the switchable microphone with teal body from the left arm to the right arm.",
+    "With the left arm, grab the long teal microphone with white grooves, pass to the right arm, keeping the long teal microphone with white grooves 0.10m from the shiny trophy cup.",
+    "Use the left arm to grab the teal microphone with white bottom, pass to the right arm, keep the teal microphone with white bottom 0.10m from the shiny trophy cup.",
+    "Use the left arm to grab the switchable microphone with teal body, then pass it to the right arm, avoiding the trophy with red and blue ribbons.",
+    "Grab the long teal microphone with white grooves with the left arm, keep 0.10m from the smooth golden trophy, hand to the right arm.",
+    "Grab the long teal microphone with white grooves with the left arm, hand it to the right arm, avoiding the smooth golden trophy by 0.10m.",
+    "Pick up the teal microphone with white bottom, avoid the trophy with red and blue ribbons by 0.10m, pass the teal microphone with white bottom from the left arm to the right arm.",
+    "With the left arm, grab the long teal microphone with white grooves, pass to the right arm, keeping the long teal microphone with white grooves 0.10m from the shiny trophy cup.",
+    "Use the left arm to grab the long teal microphone with white grooves, pass to the right arm, keep the long teal microphone with white grooves 0.10m from the trophy with red and blue ribbons.",
+    "Use the left arm to grab the long teal microphone with white grooves, then pass it to the right arm, avoiding the shiny trophy cup.",
+    "Grab the teal microphone with white bottom with the left arm, keep 0.10m from the trophy with red and blue ribbons, hand to the right arm.",
+    "Grab the long teal microphone with white grooves with the left arm, hand it to the right arm, avoiding the smooth golden trophy by 0.10m.",
+    "Pick up the long teal microphone with white grooves, avoid the shiny trophy cup by 0.10m, pass the long teal microphone with white grooves from the left arm to the right arm.",
+    "With the left arm, grab the teal microphone with white bottom, pass to the right arm, keeping the teal microphone with white bottom 0.10m from the smooth golden trophy.",
+    "Use the left arm to grab the switchable microphone with teal body, pass to the right arm, keep the switchable microphone with teal body 0.10m from the smooth golden trophy.",
+    "Use the left arm to grab the long teal microphone with white grooves, then pass it to the right arm, avoiding the smooth golden trophy.",
+    "Grab the long teal microphone with white grooves with the left arm, keep 0.10m from the trophy with red and blue ribbons, hand to the right arm.",
+    "Grab the switchable microphone with teal body with the left arm, hand it to the right arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "Pick up the switchable microphone with teal body, avoid the shiny trophy cup by 0.10m, pass the switchable microphone with teal body from the left arm to the right arm.",
+    "With the left arm, grab the long teal microphone with white grooves, pass to the right arm, keeping the long teal microphone with white grooves 0.10m from the shiny trophy cup.",
+    "Use the left arm to grab the teal microphone with white bottom, pass to the right arm, keep the teal microphone with white bottom 0.10m from the shiny trophy cup.",
+    "Use the left arm to grab the teal microphone with white bottom, then pass it to the right arm, avoiding the shiny trophy cup.",
+    "Grab the switchable microphone with teal body with the left arm, keep 0.10m from the trophy with red and blue ribbons, hand to the right arm.",
+    "Grab the switchable microphone with teal body with the left arm, hand it to the right arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "Pick up the long teal microphone with white grooves, avoid the shiny trophy cup by 0.10m, pass the long teal microphone with white grooves from the left arm to the right arm.",
+    "With the left arm, grab the switchable microphone with teal body, pass to the right arm, keeping the switchable microphone with teal body 0.10m from the trophy with red and blue ribbons.",
+    "Use the left arm to grab the teal microphone with white bottom, pass to the right arm, keep the teal microphone with white bottom 0.10m from the trophy with red and blue ribbons.",
+    "Use the left arm to grab the teal microphone with white bottom, then pass it to the right arm, avoiding the shiny trophy cup.",
+    "Grab the long teal microphone with white grooves with the left arm, keep 0.10m from the shiny trophy cup, hand to the right arm.",
+    "Grab the long teal microphone with white grooves with the left arm, hand it to the right arm, avoiding the smooth golden trophy by 0.10m.",
+    "Pick up the switchable microphone with teal body, avoid the shiny trophy cup by 0.10m, pass the switchable microphone with teal body from the left arm to the right arm.",
+    "With the left arm, grab the long teal microphone with white grooves, pass to the right arm, keeping the long teal microphone with white grooves 0.10m from the shiny trophy cup.",
+    "Use the left arm to grab the switchable microphone with teal body, pass to the right arm, keep the switchable microphone with teal body 0.10m from the trophy with red and blue ribbons.",
+    "Use the left arm to grab the switchable microphone with teal body, then pass it to the right arm, avoiding the smooth golden trophy.",
+    "Grab the teal microphone with white bottom with the left arm, keep 0.10m from the smooth golden trophy, hand to the right arm.",
+    "Grab the switchable microphone with teal body with the left arm, hand it to the right arm, avoiding the shiny trophy cup by 0.10m.",
+    "Pick up the long teal microphone with white grooves, avoid the shiny trophy cup by 0.10m, pass the long teal microphone with white grooves from the left arm to the right arm.",
+    "With the left arm, grab the teal microphone with white bottom, pass to the right arm, keeping the teal microphone with white bottom 0.10m from the shiny trophy cup.",
+    "Use the left arm to grab the teal microphone with white bottom, pass to the right arm, keep the teal microphone with white bottom 0.10m from the smooth golden trophy.",
+    "Use the left arm to grab the teal microphone with white bottom, then pass it to the right arm, avoiding the smooth golden trophy.",
+    "Grab the long teal microphone with white grooves with the left arm, keep 0.10m from the shiny trophy cup, hand to the right arm.",
+    "Grab the teal microphone with white bottom with the left arm, hand it to the right arm, avoiding the smooth golden trophy by 0.10m.",
+    "Pick up the teal microphone with white bottom, avoid the smooth golden trophy by 0.10m, pass the teal microphone with white bottom from the left arm to the right arm.",
+    "With the left arm, grab the long teal microphone with white grooves, pass to the right arm, keeping the long teal microphone with white grooves 0.10m from the shiny trophy cup.",
+    "Use the left arm to grab the switchable microphone with teal body, pass to the right arm, keep the switchable microphone with teal body 0.10m from the smooth golden trophy.",
+    "Use the left arm to grab the long teal microphone with white grooves, then pass it to the right arm, avoiding the shiny trophy cup.",
+    "Grab the switchable microphone with teal body with the left arm, keep 0.10m from the shiny trophy cup, hand to the right arm.",
+    "Grab the switchable microphone with teal body with the left arm, hand it to the right arm, avoiding the smooth golden trophy by 0.10m.",
+    "Pick up the switchable microphone with teal body, avoid the shiny trophy cup by 0.10m, pass the switchable microphone with teal body from the left arm to the right arm.",
+    "With the left arm, grab the long teal microphone with white grooves, pass to the right arm, keeping the long teal microphone with white grooves 0.10m from the shiny trophy cup.",
+    "Use the left arm to grab the long teal microphone with white grooves, pass to the right arm, keep the long teal microphone with white grooves 0.10m from the shiny trophy cup.",
+    "Use the left arm to grab the teal microphone with white bottom, then pass it to the right arm, avoiding the trophy with red and blue ribbons.",
+    "Grab the switchable microphone with teal body with the left arm, keep 0.10m from the shiny trophy cup, hand to the right arm.",
+    "Grab the teal microphone with white bottom with the left arm, hand it to the right arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "Pick up the switchable microphone with teal body, avoid the trophy with red and blue ribbons by 0.10m, pass the switchable microphone with teal body from the left arm to the right arm.",
+    "With the left arm, grab the teal microphone with white bottom, pass to the right arm, keeping the teal microphone with white bottom 0.10m from the shiny trophy cup.",
+    "Use the left arm to grab the teal microphone with white bottom, pass to the right arm, keep the teal microphone with white bottom 0.10m from the trophy with red and blue ribbons.",
+    "Use the left arm to grab the teal microphone with white bottom, then pass it to the right arm, avoiding the trophy with red and blue ribbons.",
+    "Grab the teal microphone with white bottom with the left arm, keep 0.10m from the trophy with red and blue ribbons, hand to the right arm.",
+    "Grab the long teal microphone with white grooves with the left arm, hand it to the right arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "Pick up the teal microphone with white bottom, avoid the trophy with red and blue ribbons by 0.10m, pass the teal microphone with white bottom from the left arm to the right arm.",
+    "With the left arm, grab the long teal microphone with white grooves, pass to the right arm, keeping the long teal microphone with white grooves 0.10m from the smooth golden trophy.",
+    "Use the left arm to grab the long teal microphone with white grooves, pass to the right arm, keep the long teal microphone with white grooves 0.10m from the smooth golden trophy.",
+    "Use the left arm to grab the teal microphone with white bottom, then pass it to the right arm, avoiding the trophy with red and blue ribbons.",
+    "Grab the teal microphone with white bottom with the left arm, keep 0.10m from the trophy with red and blue ribbons, hand to the right arm.",
+    "Grab the teal microphone with white bottom with the left arm, hand it to the right arm, avoiding the shiny trophy cup by 0.10m.",
+    "Pick up the switchable microphone with teal body, avoid the smooth golden trophy by 0.10m, pass the switchable microphone with teal body from the left arm to the right arm.",
+    "With the left arm, grab the long teal microphone with white grooves, pass to the right arm, keeping the long teal microphone with white grooves 0.10m from the smooth golden trophy.",
+    "Use the left arm to grab the switchable microphone with teal body, pass to the right arm, keep the switchable microphone with teal body 0.10m from the trophy with red and blue ribbons.",
+    "Use the left arm to grab the teal microphone with white bottom, then pass it to the right arm, avoiding the smooth golden trophy.",
+    "Grab the long teal microphone with white grooves with the left arm, keep 0.10m from the trophy with red and blue ribbons, hand to the right arm.",
+    "Grab the switchable microphone with teal body with the left arm, hand it to the right arm, avoiding the shiny trophy cup by 0.10m.",
+    "Pick up the teal microphone with white bottom, avoid the trophy with red and blue ribbons by 0.10m, pass the teal microphone with white bottom from the left arm to the right arm.",
+    "With the left arm, grab the long teal microphone with white grooves, pass to the right arm, keeping the long teal microphone with white grooves 0.10m from the trophy with red and blue ribbons.",
+    "Use the left arm to grab the long teal microphone with white grooves, pass to the right arm, keep the long teal microphone with white grooves 0.10m from the trophy with red and blue ribbons.",
+    "Use the left arm to grab the long teal microphone with white grooves, then pass it to the right arm, avoiding the trophy with red and blue ribbons.",
+    "Grab the long teal microphone with white grooves with the left arm, keep 0.10m from the smooth golden trophy, hand to the right arm.",
+    "Grab the teal microphone with white bottom with the left arm, hand it to the right arm, avoiding the shiny trophy cup by 0.10m.",
+    "Pick up the switchable microphone with teal body, avoid the trophy with red and blue ribbons by 0.10m, pass the switchable microphone with teal body from the left arm to the right arm.",
+    "With the left arm, grab the long teal microphone with white grooves, pass to the right arm, keeping the long teal microphone with white grooves 0.10m from the smooth golden trophy.",
+    "Use the left arm to grab the switchable microphone with teal body, pass to the right arm, keep the switchable microphone with teal body 0.10m from the smooth golden trophy.",
+    "Use the left arm to grab the teal microphone with white bottom, then pass it to the right arm, avoiding the smooth golden trophy.",
+    "Grab the teal microphone with white bottom with the left arm, keep 0.10m from the smooth golden trophy, hand to the right arm.",
+    "Grab the long teal microphone with white grooves with the left arm, hand it to the right arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "Pick up the long teal microphone with white grooves, avoid the smooth golden trophy by 0.10m, pass the long teal microphone with white grooves from the left arm to the right arm.",
+    "With the left arm, grab the switchable microphone with teal body, pass to the right arm, keeping the switchable microphone with teal body 0.10m from the smooth golden trophy.",
+    "Use the left arm to grab the switchable microphone with teal body, pass to the right arm, keep the switchable microphone with teal body 0.10m from the shiny trophy cup.",
+    "Use the left arm to grab the teal microphone with white bottom, then pass it to the right arm, avoiding the shiny trophy cup.",
+    "Grab the long teal microphone with white grooves with the left arm, keep 0.10m from the shiny trophy cup, hand to the right arm.",
+    "Grab the switchable microphone with teal body with the left arm, hand it to the right arm, avoiding the smooth golden trophy by 0.10m."
+  ]
+}
\ No newline at end of file
diff --git a/handover_mic_wp1/handover_mic_wp1/instructions/episode82.json b/handover_mic_wp1/handover_mic_wp1/instructions/episode82.json
new file mode 100644
index 0000000000000000000000000000000000000000..31c902b4c77c9e66ea874e8bd4d3122e0c488cbd
--- /dev/null
+++ b/handover_mic_wp1/handover_mic_wp1/instructions/episode82.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the microphone with black tip and white body with the right arm, give the microphone with black tip and white body to the left arm, keep clear of the metallic yellow cup-shaped trophy 0.10m.",
+    "Move the microphone with cylindrical handle from the right arm to the left arm while keeping clear of the trophy with sleek golden finish.",
+    "Using the right arm, grab the compact size microphone, keep 0.10m from the tall yellow trophy with small neck, then give the compact size microphone to the left arm.",
+    "Have the right arm grasp the microphone with rounded mesh head, avoid the shiny yellow trophy by 0.10m, and transfer the microphone with rounded mesh head to the left arm.",
+    "Take the smooth plastic microphone handle with the right arm, hand over to the left arm, keep the smooth plastic microphone handle 0.10m away from the golden trophy.",
+    "Using the right arm, take the handheld microphone and hand to the left arm, keeping 0.10m from the tall yellow trophy with small neck.",
+    "Pick up the microphone with black tip and white body, move it staying 0.10m from the shiny yellow trophy, then complete the handoff.",
+    "Let the right arm grasp the microphone for voice recording, move it 0.10m from the metallic yellow cup-shaped trophy, then the left arm receives.",
+    "Take the microphone for voice recording using the right arm, keep away from the award trophy with two handles, and pass to the left arm.",
+    "Lift the compact size microphone, keep it 0.10m away from the metallic yellow cup-shaped trophy, then pass it across.",
+    "Get the white microphone handle black accents with the right arm, shift the white microphone handle black accents to the left arm, maintaining 0.10m from the shiny yellow trophy.",
+    "Pick up the microphone for voice recording with the right arm, transfer to the left arm, stay away from the smooth metallic cup with flat bottom.",
+    "Take the smooth plastic microphone handle with the right arm, route it away from the golden trophy, then hand it to the left arm.",
+    "Have the right arm take the microphone for voice recording, then the left arm takes the microphone for voice recording, keep 0.10m from the achievement cup with curved side handles.",
+    "Grab the handheld microphone, carry it around the award trophy with two handles with 0.10m clearance, then hand over.",
+    "Pick up the handheld microphone using the right arm, transfer to the left arm, keep 0.10m from the achievement cup with curved side handles.",
+    "With the right arm, grasp the microphone with textured metal head, then hand the microphone with textured metal head to the left arm, avoiding the metallic yellow cup-shaped trophy.",
+    "Secure the compact size microphone, route it at least 0.10m from the shiny yellow trophy, then hand it over.",
+    "With the right arm, take the microphone with cylindrical handle, keep distance from the metallic yellow cup-shaped trophy, and give the microphone with cylindrical handle to the left arm.",
+    "Use the right arm to lift the black and white microphone, then give the black and white microphone to the left arm, avoiding the tall yellow trophy with small neck by 0.10m.",
+    "Lift the microphone with black tip and white body with the right arm, give the microphone with black tip and white body to the left arm, keep clear of the shiny yellow trophy 0.10m.",
+    "Move the black and white microphone from the right arm to the left arm while keeping clear of the golden yellow cup-shaped prize trophy.",
+    "Using the right arm, grab the microphone for voice recording, keep 0.10m from the golden cup with curved handles, then give the microphone for voice recording to the left arm.",
+    "Have the right arm grasp the compact size microphone, avoid the award trophy with two handles by 0.10m, and transfer the compact size microphone to the left arm.",
+    "Take the microphone with rounded mesh head with the right arm, hand over to the left arm, keep the microphone with rounded mesh head 0.10m away from the golden yellow cup-shaped prize trophy.",
+    "Using the right arm, take the microphone with textured metal head and hand to the left arm, keeping 0.10m from the smooth metallic cup with flat bottom.",
+    "Pick up the smooth plastic microphone handle, move it staying 0.10m from the achievement cup with curved side handles, then complete the handoff.",
+    "Let the right arm grasp the handheld microphone, move it 0.10m from the shiny trophy for winning competitions, then the left arm receives.",
+    "Take the microphone for voice recording using the right arm, keep away from the metallic yellow cup-shaped trophy, and pass to the left arm.",
+    "Lift the handheld microphone, keep it 0.10m away from the golden yellow cup-shaped prize trophy, then pass it across.",
+    "Get the handheld microphone with the right arm, shift the handheld microphone to the left arm, maintaining 0.10m from the trophy with sleek golden finish.",
+    "Pick up the handheld microphone with the right arm, transfer to the left arm, stay away from the tall yellow trophy with small neck.",
+    "Take the smooth plastic microphone handle with the right arm, route it away from the metallic yellow cup-shaped trophy, then hand it to the left arm.",
+    "Have the right arm take the black and white microphone, then the left arm takes the black and white microphone, keep 0.10m from the tall yellow trophy with small neck.",
+    "Grab the microphone with black tip and white body, carry it around the tall award trophy with glossy surface with 0.10m clearance, then hand over.",
+    "Pick up the white microphone handle black accents using the right arm, transfer to the left arm, keep 0.10m from the tall yellow trophy with small neck.",
+    "With the right arm, grasp the smooth plastic microphone handle, then hand the smooth plastic microphone handle to the left arm, avoiding the award trophy with two handles.",
+    "Secure the smooth plastic microphone handle, route it at least 0.10m from the shiny yellow trophy, then hand it over.",
+    "With the right arm, take the microphone with cylindrical handle, keep distance from the smooth metallic cup with flat bottom, and give the microphone with cylindrical handle to the left arm.",
+    "Use the right arm to lift the compact size microphone, then give the compact size microphone to the left arm, avoiding the achievement cup with curved side handles by 0.10m.",
+    "Lift the microphone for voice recording with the right arm, give the microphone for voice recording to the left arm, keep clear of the metallic yellow cup-shaped trophy 0.10m.",
+    "Move the mesh-patterned microphone head from the right arm to the left arm while keeping clear of the golden cup with curved handles.",
+    "Using the right arm, grab the smooth plastic microphone handle, keep 0.10m from the shiny yellow trophy, then give the smooth plastic microphone handle to the left arm.",
+    "Have the right arm grasp the white microphone handle black accents, avoid the shiny yellow trophy by 0.10m, and transfer the white microphone handle black accents to the left arm.",
+    "Take the mesh-patterned microphone head with the right arm, hand over to the left arm, keep the mesh-patterned microphone head 0.10m away from the achievement cup with curved side handles.",
+    "Using the right arm, take the smooth plastic microphone handle and hand to the left arm, keeping 0.10m from the achievement cup with curved side handles.",
+    "Pick up the microphone for voice recording, move it staying 0.10m from the golden yellow cup-shaped prize trophy, then complete the handoff.",
+    "Let the right arm grasp the microphone with cylindrical handle, move it 0.10m from the golden yellow cup-shaped prize trophy, then the left arm receives.",
+    "Take the black and white microphone using the right arm, keep away from the smooth metallic cup with flat bottom, and pass to the left arm.",
+    "Lift the compact size microphone, keep it 0.10m away from the smooth metallic cup with flat bottom, then pass it across.",
+    "Get the microphone for voice recording with the right arm, shift the microphone for voice recording to the left arm, maintaining 0.10m from the shiny trophy for winning competitions.",
+    "Pick up the microphone with rounded mesh head with the right arm, transfer to the left arm, stay away from the tall yellow trophy with small neck.",
+    "Take the microphone with cylindrical handle with the right arm, route it away from the metallic yellow cup-shaped trophy, then hand it to the left arm.",
+    "Have the right arm take the mesh-patterned microphone head, then the left arm takes the mesh-patterned microphone head, keep 0.10m from the golden yellow cup-shaped prize trophy.",
+    "Grab the microphone with black tip and white body, carry it around the achievement cup with curved side handles with 0.10m clearance, then hand over.",
+    "Pick up the microphone with black tip and white body using the right arm, transfer to the left arm, keep 0.10m from the golden trophy.",
+    "With the right arm, grasp the white microphone handle black accents, then hand the white microphone handle black accents to the left arm, avoiding the tall yellow trophy with small neck.",
+    "Secure the compact size microphone, route it at least 0.10m from the golden yellow cup-shaped prize trophy, then hand it over.",
+    "With the right arm, take the microphone with cylindrical handle, keep distance from the award trophy with two handles, and give the microphone with cylindrical handle to the left arm.",
+    "Use the right arm to lift the white microphone handle black accents, then give the white microphone handle black accents to the left arm, avoiding the golden trophy by 0.10m.",
+    "Lift the microphone with rounded mesh head with the right arm, give the microphone with rounded mesh head to the left arm, keep clear of the shiny yellow trophy 0.10m.",
+    "Move the white microphone handle black accents from the right arm to the left arm while keeping clear of the tall yellow trophy with small neck.",
+    "Using the right arm, grab the microphone with rounded mesh head, keep 0.10m from the shiny yellow trophy, then give the microphone with rounded mesh head to the left arm.",
+    "Have the right arm grasp the microphone with cylindrical handle, avoid the golden trophy by 0.10m, and transfer the microphone with cylindrical handle to the left arm.",
+    "Take the microphone with black tip and white body with the right arm, hand over to the left arm, keep the microphone with black tip and white body 0.10m away from the golden cup with curved handles.",
+    "Using the right arm, take the compact size microphone and hand to the left arm, keeping 0.10m from the achievement cup with curved side handles.",
+    "Pick up the microphone with rounded mesh head, move it staying 0.10m from the golden trophy, then complete the handoff.",
+    "Let the right arm grasp the smooth plastic microphone handle, move it 0.10m from the golden yellow cup-shaped prize trophy, then the left arm receives.",
+    "Take the black and white microphone using the right arm, keep away from the trophy with sleek golden finish, and pass to the left arm.",
+    "Lift the microphone with cylindrical handle, keep it 0.10m away from the smooth metallic cup with flat bottom, then pass it across.",
+    "Get the smooth plastic microphone handle with the right arm, shift the smooth plastic microphone handle to the left arm, maintaining 0.10m from the golden yellow cup-shaped prize trophy.",
+    "Pick up the microphone with black tip and white body with the right arm, transfer to the left arm, stay away from the trophy with sleek golden finish.",
+    "Take the handheld microphone with the right arm, route it away from the trophy with sleek golden finish, then hand it to the left arm.",
+    "Have the right arm take the black and white microphone, then the left arm takes the black and white microphone, keep 0.10m from the tall yellow trophy with small neck.",
+    "Grab the metal head microphone, carry it around the award trophy with two handles with 0.10m clearance, then hand over.",
+    "Pick up the microphone with textured metal head using the right arm, transfer to the left arm, keep 0.10m from the golden cup with curved handles.",
+    "With the right arm, grasp the handheld microphone, then hand the handheld microphone to the left arm, avoiding the golden cup with curved handles.",
+    "Secure the handheld microphone, route it at least 0.10m from the shiny trophy for winning competitions, then hand it over.",
+    "With the right arm, take the handheld microphone, keep distance from the trophy with sleek golden finish, and give the handheld microphone to the left arm.",
+    "Use the right arm to lift the handheld microphone, then give the handheld microphone to the left arm, avoiding the golden trophy by 0.10m.",
+    "Lift the handheld microphone with the right arm, give the handheld microphone to the left arm, keep clear of the golden yellow cup-shaped prize trophy 0.10m.",
+    "Move the microphone with textured metal head from the right arm to the left arm while keeping clear of the smooth metallic cup with flat bottom.",
+    "Using the right arm, grab the microphone with textured metal head, keep 0.10m from the golden trophy, then give the microphone with textured metal head to the left arm.",
+    "Have the right arm grasp the smooth plastic microphone handle, avoid the smooth metallic cup with flat bottom by 0.10m, and transfer the smooth plastic microphone handle to the left arm.",
+    "Take the black and white microphone with the right arm, hand over to the left arm, keep the black and white microphone 0.10m away from the metallic yellow cup-shaped trophy.",
+    "Using the right arm, take the metal head microphone and hand to the left arm, keeping 0.10m from the metallic yellow cup-shaped trophy.",
+    "Pick up the microphone with textured metal head, move it staying 0.10m from the golden yellow cup-shaped prize trophy, then complete the handoff.",
+    "Let the right arm grasp the handheld microphone, move it 0.10m from the award trophy with two handles, then the left arm receives.",
+    "Take the microphone with textured metal head using the right arm, keep away from the achievement cup with curved side handles, and pass to the left arm.",
+    "Lift the microphone with textured metal head, keep it 0.10m away from the metallic yellow cup-shaped trophy, then pass it across.",
+    "Get the smooth plastic microphone handle with the right arm, shift the smooth plastic microphone handle to the left arm, maintaining 0.10m from the shiny yellow trophy.",
+    "Pick up the microphone with cylindrical handle with the right arm, transfer to the left arm, stay away from the metallic yellow cup-shaped trophy.",
+    "Take the microphone with rounded mesh head with the right arm, route it away from the golden cup with curved handles, then hand it to the left arm.",
+    "Have the right arm take the microphone with rounded mesh head, then the left arm takes the microphone with rounded mesh head, keep 0.10m from the tall award trophy with glossy surface.",
+    "Grab the compact size microphone, carry it around the achievement cup with curved side handles with 0.10m clearance, then hand over.",
+    "Pick up the microphone with rounded mesh head using the right arm, transfer to the left arm, keep 0.10m from the trophy with sleek golden finish.",
+    "With the right arm, grasp the metal head microphone, then hand the metal head microphone to the left arm, avoiding the shiny trophy for winning competitions.",
+    "Secure the compact size microphone, route it at least 0.10m from the smooth metallic cup with flat bottom, then hand it over.",
+    "With the right arm, take the microphone with black tip and white body, keep distance from the golden yellow cup-shaped prize trophy, and give the microphone with black tip and white body to the left arm.",
+    "Use the right arm to lift the handheld microphone, then give the handheld microphone to the left arm, avoiding the smooth metallic cup with flat bottom by 0.10m."
+  ],
+  "unseen": [
+    "Use the right arm to grab the microphone used for audio input, pass to the left arm, keep the microphone used for audio input 0.10m from the smooth trophy with wide base.",
+    "With the right arm, grab the microphone used for audio input, pass to the left arm, keeping the microphone used for audio input 0.10m from the smooth trophy with wide base.",
+    "Grab the microphone used for audio input with the right arm, hand it to the left arm, avoiding the prize trophy with sturdy round base by 0.10m.",
+    "Pick up the lightweight handheld microphone, avoid the prize trophy with sturdy round base by 0.10m, pass the lightweight handheld microphone from the right arm to the left arm.",
+    "Grab the black and white plastic microphone with the right arm, keep 0.10m from the smooth trophy with wide base, hand to the left arm.",
+    "Use the right arm to grab the black and white plastic microphone, then pass it to the left arm, avoiding the smooth trophy with wide base.",
+    "Use the right arm to grab the microphone used for audio input, pass to the left arm, keep the microphone used for audio input 0.10m from the smooth trophy with wide base.",
+    "With the right arm, grab the black and white plastic microphone, pass to the left arm, keeping the black and white plastic microphone 0.10m from the medium-sized golden prize cup.",
+    "Grab the microphone used for audio input with the right arm, hand it to the left arm, avoiding the smooth trophy with wide base by 0.10m.",
+    "Pick up the black and white plastic microphone, avoid the medium-sized golden prize cup by 0.10m, pass the black and white plastic microphone from the right arm to the left arm.",
+    "Grab the microphone used for audio input with the right arm, keep 0.10m from the medium-sized golden prize cup, hand to the left arm.",
+    "Use the right arm to grab the lightweight handheld microphone, then pass it to the left arm, avoiding the prize trophy with sturdy round base.",
+    "Use the right arm to grab the lightweight handheld microphone, pass to the left arm, keep the lightweight handheld microphone 0.10m from the smooth trophy with wide base.",
+    "With the right arm, grab the black and white plastic microphone, pass to the left arm, keeping the black and white plastic microphone 0.10m from the prize trophy with sturdy round base.",
+    "Grab the lightweight handheld microphone with the right arm, hand it to the left arm, avoiding the medium-sized golden prize cup by 0.10m.",
+    "Pick up the lightweight handheld microphone, avoid the smooth trophy with wide base by 0.10m, pass the lightweight handheld microphone from the right arm to the left arm.",
+    "Grab the microphone used for audio input with the right arm, keep 0.10m from the medium-sized golden prize cup, hand to the left arm.",
+    "Use the right arm to grab the lightweight handheld microphone, then pass it to the left arm, avoiding the medium-sized golden prize cup.",
+    "Use the right arm to grab the black and white plastic microphone, pass to the left arm, keep the black and white plastic microphone 0.10m from the prize trophy with sturdy round base.",
+    "With the right arm, grab the microphone used for audio input, pass to the left arm, keeping the microphone used for audio input 0.10m from the medium-sized golden prize cup.",
+    "Grab the microphone used for audio input with the right arm, hand it to the left arm, avoiding the prize trophy with sturdy round base by 0.10m.",
+    "Pick up the microphone used for audio input, avoid the prize trophy with sturdy round base by 0.10m, pass the microphone used for audio input from the right arm to the left arm.",
+    "Grab the black and white plastic microphone with the right arm, keep 0.10m from the medium-sized golden prize cup, hand to the left arm.",
+    "Use the right arm to grab the black and white plastic microphone, then pass it to the left arm, avoiding the smooth trophy with wide base.",
+    "Use the right arm to grab the lightweight handheld microphone, pass to the left arm, keep the lightweight handheld microphone 0.10m from the medium-sized golden prize cup.",
+    "With the right arm, grab the lightweight handheld microphone, pass to the left arm, keeping the lightweight handheld microphone 0.10m from the prize trophy with sturdy round base.",
+    "Grab the black and white plastic microphone with the right arm, hand it to the left arm, avoiding the prize trophy with sturdy round base by 0.10m.",
+    "Pick up the black and white plastic microphone, avoid the smooth trophy with wide base by 0.10m, pass the black and white plastic microphone from the right arm to the left arm.",
+    "Grab the microphone used for audio input with the right arm, keep 0.10m from the smooth trophy with wide base, hand to the left arm.",
+    "Use the right arm to grab the lightweight handheld microphone, then pass it to the left arm, avoiding the prize trophy with sturdy round base.",
+    "Use the right arm to grab the microphone used for audio input, pass to the left arm, keep the microphone used for audio input 0.10m from the medium-sized golden prize cup.",
+    "With the right arm, grab the microphone used for audio input, pass to the left arm, keeping the microphone used for audio input 0.10m from the prize trophy with sturdy round base.",
+    "Grab the black and white plastic microphone with the right arm, hand it to the left arm, avoiding the prize trophy with sturdy round base by 0.10m.",
+    "Pick up the microphone used for audio input, avoid the smooth trophy with wide base by 0.10m, pass the microphone used for audio input from the right arm to the left arm.",
+    "Grab the black and white plastic microphone with the right arm, keep 0.10m from the smooth trophy with wide base, hand to the left arm.",
+    "Use the right arm to grab the lightweight handheld microphone, then pass it to the left arm, avoiding the medium-sized golden prize cup.",
+    "Use the right arm to grab the microphone used for audio input, pass to the left arm, keep the microphone used for audio input 0.10m from the medium-sized golden prize cup.",
+    "With the right arm, grab the lightweight handheld microphone, pass to the left arm, keeping the lightweight handheld microphone 0.10m from the medium-sized golden prize cup.",
+    "Grab the microphone used for audio input with the right arm, hand it to the left arm, avoiding the medium-sized golden prize cup by 0.10m.",
+    "Pick up the lightweight handheld microphone, avoid the smooth trophy with wide base by 0.10m, pass the lightweight handheld microphone from the right arm to the left arm.",
+    "Grab the microphone used for audio input with the right arm, keep 0.10m from the smooth trophy with wide base, hand to the left arm.",
+    "Use the right arm to grab the lightweight handheld microphone, then pass it to the left arm, avoiding the medium-sized golden prize cup.",
+    "Use the right arm to grab the black and white plastic microphone, pass to the left arm, keep the black and white plastic microphone 0.10m from the medium-sized golden prize cup.",
+    "With the right arm, grab the microphone used for audio input, pass to the left arm, keeping the microphone used for audio input 0.10m from the medium-sized golden prize cup.",
+    "Grab the microphone used for audio input with the right arm, hand it to the left arm, avoiding the smooth trophy with wide base by 0.10m.",
+    "Pick up the microphone used for audio input, avoid the medium-sized golden prize cup by 0.10m, pass the microphone used for audio input from the right arm to the left arm.",
+    "Grab the black and white plastic microphone with the right arm, keep 0.10m from the medium-sized golden prize cup, hand to the left arm.",
+    "Use the right arm to grab the black and white plastic microphone, then pass it to the left arm, avoiding the smooth trophy with wide base.",
+    "Use the right arm to grab the lightweight handheld microphone, pass to the left arm, keep the lightweight handheld microphone 0.10m from the smooth trophy with wide base.",
+    "With the right arm, grab the black and white plastic microphone, pass to the left arm, keeping the black and white plastic microphone 0.10m from the smooth trophy with wide base.",
+    "Grab the black and white plastic microphone with the right arm, hand it to the left arm, avoiding the smooth trophy with wide base by 0.10m.",
+    "Pick up the lightweight handheld microphone, avoid the medium-sized golden prize cup by 0.10m, pass the lightweight handheld microphone from the right arm to the left arm.",
+    "Grab the black and white plastic microphone with the right arm, keep 0.10m from the smooth trophy with wide base, hand to the left arm.",
+    "Use the right arm to grab the lightweight handheld microphone, then pass it to the left arm, avoiding the prize trophy with sturdy round base.",
+    "Use the right arm to grab the black and white plastic microphone, pass to the left arm, keep the black and white plastic microphone 0.10m from the medium-sized golden prize cup.",
+    "With the right arm, grab the microphone used for audio input, pass to the left arm, keeping the microphone used for audio input 0.10m from the medium-sized golden prize cup.",
+    "Grab the lightweight handheld microphone with the right arm, hand it to the left arm, avoiding the medium-sized golden prize cup by 0.10m.",
+    "Pick up the black and white plastic microphone, avoid the smooth trophy with wide base by 0.10m, pass the black and white plastic microphone from the right arm to the left arm.",
+    "Grab the microphone used for audio input with the right arm, keep 0.10m from the smooth trophy with wide base, hand to the left arm.",
+    "Use the right arm to grab the microphone used for audio input, then pass it to the left arm, avoiding the medium-sized golden prize cup.",
+    "Use the right arm to grab the lightweight handheld microphone, pass to the left arm, keep the lightweight handheld microphone 0.10m from the medium-sized golden prize cup.",
+    "With the right arm, grab the microphone used for audio input, pass to the left arm, keeping the microphone used for audio input 0.10m from the prize trophy with sturdy round base.",
+    "Grab the black and white plastic microphone with the right arm, hand it to the left arm, avoiding the prize trophy with sturdy round base by 0.10m.",
+    "Pick up the black and white plastic microphone, avoid the medium-sized golden prize cup by 0.10m, pass the black and white plastic microphone from the right arm to the left arm.",
+    "Grab the microphone used for audio input with the right arm, keep 0.10m from the medium-sized golden prize cup, hand to the left arm.",
+    "Use the right arm to grab the microphone used for audio input, then pass it to the left arm, avoiding the smooth trophy with wide base.",
+    "Use the right arm to grab the black and white plastic microphone, pass to the left arm, keep the black and white plastic microphone 0.10m from the medium-sized golden prize cup.",
+    "With the right arm, grab the lightweight handheld microphone, pass to the left arm, keeping the lightweight handheld microphone 0.10m from the smooth trophy with wide base.",
+    "Grab the microphone used for audio input with the right arm, hand it to the left arm, avoiding the smooth trophy with wide base by 0.10m.",
+    "Pick up the microphone used for audio input, avoid the medium-sized golden prize cup by 0.10m, pass the microphone used for audio input from the right arm to the left arm.",
+    "Grab the lightweight handheld microphone with the right arm, keep 0.10m from the medium-sized golden prize cup, hand to the left arm.",
+    "Use the right arm to grab the microphone used for audio input, then pass it to the left arm, avoiding the smooth trophy with wide base.",
+    "Use the right arm to grab the black and white plastic microphone, pass to the left arm, keep the black and white plastic microphone 0.10m from the prize trophy with sturdy round base.",
+    "With the right arm, grab the microphone used for audio input, pass to the left arm, keeping the microphone used for audio input 0.10m from the medium-sized golden prize cup.",
+    "Grab the lightweight handheld microphone with the right arm, hand it to the left arm, avoiding the prize trophy with sturdy round base by 0.10m.",
+    "Pick up the microphone used for audio input, avoid the smooth trophy with wide base by 0.10m, pass the microphone used for audio input from the right arm to the left arm.",
+    "Grab the microphone used for audio input with the right arm, keep 0.10m from the smooth trophy with wide base, hand to the left arm.",
+    "Use the right arm to grab the black and white plastic microphone, then pass it to the left arm, avoiding the medium-sized golden prize cup.",
+    "Use the right arm to grab the lightweight handheld microphone, pass to the left arm, keep the lightweight handheld microphone 0.10m from the prize trophy with sturdy round base.",
+    "With the right arm, grab the black and white plastic microphone, pass to the left arm, keeping the black and white plastic microphone 0.10m from the smooth trophy with wide base.",
+    "Grab the lightweight handheld microphone with the right arm, hand it to the left arm, avoiding the medium-sized golden prize cup by 0.10m.",
+    "Pick up the lightweight handheld microphone, avoid the medium-sized golden prize cup by 0.10m, pass the lightweight handheld microphone from the right arm to the left arm.",
+    "Grab the black and white plastic microphone with the right arm, keep 0.10m from the smooth trophy with wide base, hand to the left arm.",
+    "Use the right arm to grab the microphone used for audio input, then pass it to the left arm, avoiding the smooth trophy with wide base.",
+    "Use the right arm to grab the lightweight handheld microphone, pass to the left arm, keep the lightweight handheld microphone 0.10m from the medium-sized golden prize cup.",
+    "With the right arm, grab the microphone used for audio input, pass to the left arm, keeping the microphone used for audio input 0.10m from the smooth trophy with wide base.",
+    "Grab the lightweight handheld microphone with the right arm, hand it to the left arm, avoiding the medium-sized golden prize cup by 0.10m.",
+    "Pick up the black and white plastic microphone, avoid the prize trophy with sturdy round base by 0.10m, pass the black and white plastic microphone from the right arm to the left arm.",
+    "Grab the microphone used for audio input with the right arm, keep 0.10m from the prize trophy with sturdy round base, hand to the left arm.",
+    "Use the right arm to grab the black and white plastic microphone, then pass it to the left arm, avoiding the medium-sized golden prize cup.",
+    "Use the right arm to grab the black and white plastic microphone, pass to the left arm, keep the black and white plastic microphone 0.10m from the medium-sized golden prize cup.",
+    "With the right arm, grab the lightweight handheld microphone, pass to the left arm, keeping the lightweight handheld microphone 0.10m from the prize trophy with sturdy round base.",
+    "Grab the microphone used for audio input with the right arm, hand it to the left arm, avoiding the smooth trophy with wide base by 0.10m.",
+    "Pick up the lightweight handheld microphone, avoid the smooth trophy with wide base by 0.10m, pass the lightweight handheld microphone from the right arm to the left arm.",
+    "Grab the microphone used for audio input with the right arm, keep 0.10m from the medium-sized golden prize cup, hand to the left arm.",
+    "Use the right arm to grab the lightweight handheld microphone, then pass it to the left arm, avoiding the medium-sized golden prize cup.",
+    "Use the right arm to grab the black and white plastic microphone, pass to the left arm, keep the black and white plastic microphone 0.10m from the prize trophy with sturdy round base.",
+    "With the right arm, grab the black and white plastic microphone, pass to the left arm, keeping the black and white plastic microphone 0.10m from the smooth trophy with wide base.",
+    "Grab the black and white plastic microphone with the right arm, hand it to the left arm, avoiding the prize trophy with sturdy round base by 0.10m.",
+    "Pick up the black and white plastic microphone, avoid the medium-sized golden prize cup by 0.10m, pass the black and white plastic microphone from the right arm to the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/handover_mic_wp1/handover_mic_wp1/instructions/episode83.json b/handover_mic_wp1/handover_mic_wp1/instructions/episode83.json
new file mode 100644
index 0000000000000000000000000000000000000000..c3b6873e098583c7049233586b9326141f4a954e
--- /dev/null
+++ b/handover_mic_wp1/handover_mic_wp1/instructions/episode83.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the round head microphone with the right arm, give the round head microphone to the left arm, keep clear of the tall award trophy with glossy surface 0.10m.",
+    "Using the right arm, grab the round head microphone, keep 0.10m from the achievement cup with curved side handles, then give the round head microphone to the left arm.",
+    "Take the gray and dark blue microphone with the right arm, route it away from the smooth metallic cup with flat bottom, then hand it to the left arm.",
+    "Secure the microphone with smooth gray stem, route it at least 0.10m from the smooth metallic cup with flat bottom, then hand it over.",
+    "Take the gray stem microphone with foam top using the right arm, keep away from the golden cup with curved handles, and pass to the left arm.",
+    "Pick up the gray and dark blue microphone with the right arm, transfer to the left arm, stay away from the award trophy with two handles.",
+    "Let the right arm grasp the microphone with dark blue padding, move it 0.10m from the golden cup with curved handles, then the left arm receives.",
+    "Pick up the audio microphone with soft covering using the right arm, transfer to the left arm, keep 0.10m from the trophy with sleek golden finish.",
+    "Using the right arm, take the microphone with dark blue padding and hand to the left arm, keeping 0.10m from the metallic yellow cup-shaped trophy.",
+    "Take the audio microphone with soft covering with the right arm, hand over to the left arm, keep the audio microphone with soft covering 0.10m away from the tall yellow trophy with small neck.",
+    "Pick up the audio microphone with soft covering, move it staying 0.10m from the golden yellow cup-shaped prize trophy, then complete the handoff.",
+    "Get the gray stem microphone with foam top with the right arm, shift the gray stem microphone with foam top to the left arm, maintaining 0.10m from the achievement cup with curved side handles.",
+    "Grab the microphone covered with foam tip, carry it around the shiny trophy for winning competitions with 0.10m clearance, then hand over.",
+    "With the right arm, grasp the gray and dark blue microphone, then hand the gray and dark blue microphone to the left arm, avoiding the shiny yellow trophy.",
+    "Have the right arm take the microphone with smooth gray stem, then the left arm takes the microphone with smooth gray stem, keep 0.10m from the golden yellow cup-shaped prize trophy.",
+    "With the right arm, take the medium microphone with two-tone color, keep distance from the smooth metallic cup with flat bottom, and give the medium microphone with two-tone color to the left arm.",
+    "Have the right arm grasp the microphone covered with foam tip, avoid the golden cup with curved handles by 0.10m, and transfer the microphone covered with foam tip to the left arm.",
+    "Lift the gray and dark blue microphone, keep it 0.10m away from the achievement cup with curved side handles, then pass it across.",
+    "Use the right arm to lift the small audio microphone, then give the small audio microphone to the left arm, avoiding the metallic yellow cup-shaped trophy by 0.10m.",
+    "Move the microphone with smooth gray stem from the right arm to the left arm while keeping clear of the tall yellow trophy with small neck.",
+    "Lift the gray and dark blue microphone with the right arm, give the gray and dark blue microphone to the left arm, keep clear of the smooth metallic cup with flat bottom 0.10m.",
+    "Using the right arm, grab the round head microphone, keep 0.10m from the golden trophy, then give the round head microphone to the left arm.",
+    "Take the gray stem microphone with foam top with the right arm, route it away from the metallic yellow cup-shaped trophy, then hand it to the left arm.",
+    "Secure the microphone covered with foam tip, route it at least 0.10m from the shiny yellow trophy, then hand it over.",
+    "Take the microphone with round foam head using the right arm, keep away from the smooth metallic cup with flat bottom, and pass to the left arm.",
+    "Pick up the gray and dark blue microphone with the right arm, transfer to the left arm, stay away from the smooth metallic cup with flat bottom.",
+    "Let the right arm grasp the medium microphone with two-tone color, move it 0.10m from the trophy with sleek golden finish, then the left arm receives.",
+    "Pick up the microphone with dark blue padding using the right arm, transfer to the left arm, keep 0.10m from the golden cup with curved handles.",
+    "Using the right arm, take the microphone with round foam head and hand to the left arm, keeping 0.10m from the smooth metallic cup with flat bottom.",
+    "Take the medium microphone with two-tone color with the right arm, hand over to the left arm, keep the medium microphone with two-tone color 0.10m away from the achievement cup with curved side handles.",
+    "Pick up the dark blue microphone, move it staying 0.10m from the shiny trophy for winning competitions, then complete the handoff.",
+    "Get the microphone with round foam head with the right arm, shift the microphone with round foam head to the left arm, maintaining 0.10m from the metallic yellow cup-shaped trophy.",
+    "Grab the microphone with smooth gray stem, carry it around the tall award trophy with glossy surface with 0.10m clearance, then hand over.",
+    "With the right arm, grasp the dark blue microphone, then hand the dark blue microphone to the left arm, avoiding the golden trophy.",
+    "Have the right arm take the small audio microphone, then the left arm takes the small audio microphone, keep 0.10m from the golden trophy.",
+    "With the right arm, take the medium microphone with two-tone color, keep distance from the golden trophy, and give the medium microphone with two-tone color to the left arm.",
+    "Have the right arm grasp the round head microphone, avoid the shiny yellow trophy by 0.10m, and transfer the round head microphone to the left arm.",
+    "Lift the medium microphone with two-tone color, keep it 0.10m away from the golden trophy, then pass it across.",
+    "Use the right arm to lift the microphone with smooth gray stem, then give the microphone with smooth gray stem to the left arm, avoiding the award trophy with two handles by 0.10m.",
+    "Move the microphone with smooth gray stem from the right arm to the left arm while keeping clear of the achievement cup with curved side handles.",
+    "Lift the medium microphone with two-tone color with the right arm, give the medium microphone with two-tone color to the left arm, keep clear of the award trophy with two handles 0.10m.",
+    "Using the right arm, grab the small audio microphone, keep 0.10m from the shiny yellow trophy, then give the small audio microphone to the left arm.",
+    "Take the microphone with smooth gray stem with the right arm, route it away from the golden cup with curved handles, then hand it to the left arm.",
+    "Secure the medium microphone with two-tone color, route it at least 0.10m from the golden trophy, then hand it over.",
+    "Take the medium microphone with two-tone color using the right arm, keep away from the shiny yellow trophy, and pass to the left arm.",
+    "Pick up the microphone with dark blue padding with the right arm, transfer to the left arm, stay away from the shiny trophy for winning competitions.",
+    "Let the right arm grasp the gray stem microphone with foam top, move it 0.10m from the golden trophy, then the left arm receives.",
+    "Pick up the medium microphone with two-tone color using the right arm, transfer to the left arm, keep 0.10m from the tall yellow trophy with small neck.",
+    "Using the right arm, take the small audio microphone and hand to the left arm, keeping 0.10m from the tall yellow trophy with small neck.",
+    "Take the gray stem microphone with foam top with the right arm, hand over to the left arm, keep the gray stem microphone with foam top 0.10m away from the award trophy with two handles.",
+    "Pick up the dark blue microphone, move it staying 0.10m from the golden yellow cup-shaped prize trophy, then complete the handoff.",
+    "Get the gray and dark blue microphone with the right arm, shift the gray and dark blue microphone to the left arm, maintaining 0.10m from the golden yellow cup-shaped prize trophy.",
+    "Grab the audio microphone with soft covering, carry it around the tall award trophy with glossy surface with 0.10m clearance, then hand over.",
+    "With the right arm, grasp the round head microphone, then hand the round head microphone to the left arm, avoiding the smooth metallic cup with flat bottom.",
+    "Have the right arm take the dark blue microphone, then the left arm takes the dark blue microphone, keep 0.10m from the tall yellow trophy with small neck.",
+    "With the right arm, take the microphone with round foam head, keep distance from the trophy with sleek golden finish, and give the microphone with round foam head to the left arm.",
+    "Have the right arm grasp the gray and dark blue microphone, avoid the tall yellow trophy with small neck by 0.10m, and transfer the gray and dark blue microphone to the left arm.",
+    "Lift the audio microphone with soft covering, keep it 0.10m away from the tall yellow trophy with small neck, then pass it across.",
+    "Use the right arm to lift the microphone covered with foam tip, then give the microphone covered with foam tip to the left arm, avoiding the tall yellow trophy with small neck by 0.10m.",
+    "Move the round head microphone from the right arm to the left arm while keeping clear of the award trophy with two handles.",
+    "Lift the medium microphone with two-tone color with the right arm, give the medium microphone with two-tone color to the left arm, keep clear of the golden cup with curved handles 0.10m.",
+    "Using the right arm, grab the microphone for recording sound, keep 0.10m from the tall yellow trophy with small neck, then give the microphone for recording sound to the left arm.",
+    "Take the gray and dark blue microphone with the right arm, route it away from the shiny yellow trophy, then hand it to the left arm.",
+    "Secure the microphone with round foam head, route it at least 0.10m from the tall award trophy with glossy surface, then hand it over.",
+    "Take the round head microphone using the right arm, keep away from the trophy with sleek golden finish, and pass to the left arm.",
+    "Pick up the microphone for recording sound with the right arm, transfer to the left arm, stay away from the golden trophy.",
+    "Let the right arm grasp the microphone with smooth gray stem, move it 0.10m from the shiny trophy for winning competitions, then the left arm receives.",
+    "Pick up the medium microphone with two-tone color using the right arm, transfer to the left arm, keep 0.10m from the tall yellow trophy with small neck.",
+    "Using the right arm, take the gray stem microphone with foam top and hand to the left arm, keeping 0.10m from the shiny trophy for winning competitions.",
+    "Take the microphone with round foam head with the right arm, hand over to the left arm, keep the microphone with round foam head 0.10m away from the metallic yellow cup-shaped trophy.",
+    "Pick up the microphone with round foam head, move it staying 0.10m from the metallic yellow cup-shaped trophy, then complete the handoff.",
+    "Get the medium microphone with two-tone color with the right arm, shift the medium microphone with two-tone color to the left arm, maintaining 0.10m from the tall award trophy with glossy surface.",
+    "Grab the audio microphone with soft covering, carry it around the achievement cup with curved side handles with 0.10m clearance, then hand over.",
+    "With the right arm, grasp the microphone with smooth gray stem, then hand the microphone with smooth gray stem to the left arm, avoiding the shiny trophy for winning competitions.",
+    "Have the right arm take the dark blue microphone, then the left arm takes the dark blue microphone, keep 0.10m from the achievement cup with curved side handles.",
+    "With the right arm, take the gray and dark blue microphone, keep distance from the golden yellow cup-shaped prize trophy, and give the gray and dark blue microphone to the left arm.",
+    "Have the right arm grasp the small audio microphone, avoid the golden yellow cup-shaped prize trophy by 0.10m, and transfer the small audio microphone to the left arm.",
+    "Lift the audio microphone with soft covering, keep it 0.10m away from the trophy with sleek golden finish, then pass it across.",
+    "Use the right arm to lift the round head microphone, then give the round head microphone to the left arm, avoiding the golden trophy by 0.10m.",
+    "Move the microphone with round foam head from the right arm to the left arm while keeping clear of the tall yellow trophy with small neck.",
+    "Lift the audio microphone with soft covering with the right arm, give the audio microphone with soft covering to the left arm, keep clear of the shiny trophy for winning competitions 0.10m.",
+    "Using the right arm, grab the small audio microphone, keep 0.10m from the golden cup with curved handles, then give the small audio microphone to the left arm.",
+    "Take the audio microphone with soft covering with the right arm, route it away from the tall award trophy with glossy surface, then hand it to the left arm.",
+    "Secure the audio microphone with soft covering, route it at least 0.10m from the metallic yellow cup-shaped trophy, then hand it over.",
+    "Take the microphone with round foam head using the right arm, keep away from the shiny yellow trophy, and pass to the left arm.",
+    "Pick up the audio microphone with soft covering with the right arm, transfer to the left arm, stay away from the tall yellow trophy with small neck.",
+    "Let the right arm grasp the microphone for recording sound, move it 0.10m from the achievement cup with curved side handles, then the left arm receives.",
+    "Pick up the gray and dark blue microphone using the right arm, transfer to the left arm, keep 0.10m from the shiny trophy for winning competitions.",
+    "Using the right arm, take the audio microphone with soft covering and hand to the left arm, keeping 0.10m from the metallic yellow cup-shaped trophy.",
+    "Take the microphone with smooth gray stem with the right arm, hand over to the left arm, keep the microphone with smooth gray stem 0.10m away from the tall yellow trophy with small neck.",
+    "Pick up the round head microphone, move it staying 0.10m from the award trophy with two handles, then complete the handoff.",
+    "Get the audio microphone with soft covering with the right arm, shift the audio microphone with soft covering to the left arm, maintaining 0.10m from the golden trophy.",
+    "Grab the dark blue microphone, carry it around the tall yellow trophy with small neck with 0.10m clearance, then hand over.",
+    "With the right arm, grasp the small audio microphone, then hand the small audio microphone to the left arm, avoiding the shiny trophy for winning competitions.",
+    "Have the right arm take the small audio microphone, then the left arm takes the small audio microphone, keep 0.10m from the golden yellow cup-shaped prize trophy.",
+    "With the right arm, take the microphone for recording sound, keep distance from the award trophy with two handles, and give the microphone for recording sound to the left arm.",
+    "Have the right arm grasp the microphone with smooth gray stem, avoid the trophy with sleek golden finish by 0.10m, and transfer the microphone with smooth gray stem to the left arm.",
+    "Lift the gray and dark blue microphone, keep it 0.10m away from the smooth metallic cup with flat bottom, then pass it across.",
+    "Use the right arm to lift the microphone with dark blue padding, then give the microphone with dark blue padding to the left arm, avoiding the golden trophy by 0.10m.",
+    "Move the microphone covered with foam tip from the right arm to the left arm while keeping clear of the golden yellow cup-shaped prize trophy."
+  ],
+  "unseen": [
+    "With the right arm, grab the microphone with cylindrical handle, pass to the left arm, keeping the microphone with cylindrical handle 0.10m from the smooth trophy with wide base.",
+    "Use the right arm to grab the handheld microphone, pass to the left arm, keep the handheld microphone 0.10m from the medium-sized golden prize cup.",
+    "Use the right arm to grab the microphone with cylindrical handle, then pass it to the left arm, avoiding the prize trophy with sturdy round base.",
+    "Grab the compact microphone with two parts with the right arm, hand it to the left arm, avoiding the smooth trophy with wide base by 0.10m.",
+    "Pick up the handheld microphone, avoid the medium-sized golden prize cup by 0.10m, pass the handheld microphone from the right arm to the left arm.",
+    "Grab the handheld microphone with the right arm, keep 0.10m from the smooth trophy with wide base, hand to the left arm.",
+    "With the right arm, grab the microphone with cylindrical handle, pass to the left arm, keeping the microphone with cylindrical handle 0.10m from the prize trophy with sturdy round base.",
+    "Use the right arm to grab the compact microphone with two parts, pass to the left arm, keep the compact microphone with two parts 0.10m from the smooth trophy with wide base.",
+    "Use the right arm to grab the compact microphone with two parts, then pass it to the left arm, avoiding the medium-sized golden prize cup.",
+    "Grab the compact microphone with two parts with the right arm, hand it to the left arm, avoiding the smooth trophy with wide base by 0.10m.",
+    "Pick up the microphone with cylindrical handle, avoid the smooth trophy with wide base by 0.10m, pass the microphone with cylindrical handle from the right arm to the left arm.",
+    "Grab the microphone with cylindrical handle with the right arm, keep 0.10m from the prize trophy with sturdy round base, hand to the left arm.",
+    "With the right arm, grab the handheld microphone, pass to the left arm, keeping the handheld microphone 0.10m from the prize trophy with sturdy round base.",
+    "Use the right arm to grab the microphone with cylindrical handle, pass to the left arm, keep the microphone with cylindrical handle 0.10m from the smooth trophy with wide base.",
+    "Use the right arm to grab the microphone with cylindrical handle, then pass it to the left arm, avoiding the medium-sized golden prize cup.",
+    "Grab the microphone with cylindrical handle with the right arm, hand it to the left arm, avoiding the medium-sized golden prize cup by 0.10m.",
+    "Pick up the microphone with cylindrical handle, avoid the medium-sized golden prize cup by 0.10m, pass the microphone with cylindrical handle from the right arm to the left arm.",
+    "Grab the microphone with cylindrical handle with the right arm, keep 0.10m from the prize trophy with sturdy round base, hand to the left arm.",
+    "With the right arm, grab the microphone with cylindrical handle, pass to the left arm, keeping the microphone with cylindrical handle 0.10m from the smooth trophy with wide base.",
+    "Use the right arm to grab the microphone with cylindrical handle, pass to the left arm, keep the microphone with cylindrical handle 0.10m from the medium-sized golden prize cup.",
+    "Use the right arm to grab the handheld microphone, then pass it to the left arm, avoiding the prize trophy with sturdy round base.",
+    "Grab the microphone with cylindrical handle with the right arm, hand it to the left arm, avoiding the prize trophy with sturdy round base by 0.10m.",
+    "Pick up the handheld microphone, avoid the smooth trophy with wide base by 0.10m, pass the handheld microphone from the right arm to the left arm.",
+    "Grab the compact microphone with two parts with the right arm, keep 0.10m from the medium-sized golden prize cup, hand to the left arm.",
+    "With the right arm, grab the handheld microphone, pass to the left arm, keeping the handheld microphone 0.10m from the medium-sized golden prize cup.",
+    "Use the right arm to grab the compact microphone with two parts, pass to the left arm, keep the compact microphone with two parts 0.10m from the prize trophy with sturdy round base.",
+    "Use the right arm to grab the handheld microphone, then pass it to the left arm, avoiding the prize trophy with sturdy round base.",
+    "Grab the handheld microphone with the right arm, hand it to the left arm, avoiding the prize trophy with sturdy round base by 0.10m.",
+    "Pick up the microphone with cylindrical handle, avoid the medium-sized golden prize cup by 0.10m, pass the microphone with cylindrical handle from the right arm to the left arm.",
+    "Grab the handheld microphone with the right arm, keep 0.10m from the medium-sized golden prize cup, hand to the left arm.",
+    "With the right arm, grab the microphone with cylindrical handle, pass to the left arm, keeping the microphone with cylindrical handle 0.10m from the smooth trophy with wide base.",
+    "Use the right arm to grab the microphone with cylindrical handle, pass to the left arm, keep the microphone with cylindrical handle 0.10m from the prize trophy with sturdy round base.",
+    "Use the right arm to grab the compact microphone with two parts, then pass it to the left arm, avoiding the medium-sized golden prize cup.",
+    "Grab the microphone with cylindrical handle with the right arm, hand it to the left arm, avoiding the smooth trophy with wide base by 0.10m.",
+    "Pick up the handheld microphone, avoid the medium-sized golden prize cup by 0.10m, pass the handheld microphone from the right arm to the left arm.",
+    "Grab the compact microphone with two parts with the right arm, keep 0.10m from the prize trophy with sturdy round base, hand to the left arm.",
+    "With the right arm, grab the compact microphone with two parts, pass to the left arm, keeping the compact microphone with two parts 0.10m from the smooth trophy with wide base.",
+    "Use the right arm to grab the microphone with cylindrical handle, pass to the left arm, keep the microphone with cylindrical handle 0.10m from the smooth trophy with wide base.",
+    "Use the right arm to grab the handheld microphone, then pass it to the left arm, avoiding the prize trophy with sturdy round base.",
+    "Grab the microphone with cylindrical handle with the right arm, hand it to the left arm, avoiding the prize trophy with sturdy round base by 0.10m.",
+    "Pick up the compact microphone with two parts, avoid the smooth trophy with wide base by 0.10m, pass the compact microphone with two parts from the right arm to the left arm.",
+    "Grab the microphone with cylindrical handle with the right arm, keep 0.10m from the prize trophy with sturdy round base, hand to the left arm.",
+    "With the right arm, grab the compact microphone with two parts, pass to the left arm, keeping the compact microphone with two parts 0.10m from the smooth trophy with wide base.",
+    "Use the right arm to grab the handheld microphone, pass to the left arm, keep the handheld microphone 0.10m from the smooth trophy with wide base.",
+    "Use the right arm to grab the compact microphone with two parts, then pass it to the left arm, avoiding the medium-sized golden prize cup.",
+    "Grab the handheld microphone with the right arm, hand it to the left arm, avoiding the prize trophy with sturdy round base by 0.10m.",
+    "Pick up the compact microphone with two parts, avoid the smooth trophy with wide base by 0.10m, pass the compact microphone with two parts from the right arm to the left arm.",
+    "Grab the compact microphone with two parts with the right arm, keep 0.10m from the medium-sized golden prize cup, hand to the left arm.",
+    "With the right arm, grab the microphone with cylindrical handle, pass to the left arm, keeping the microphone with cylindrical handle 0.10m from the medium-sized golden prize cup.",
+    "Use the right arm to grab the handheld microphone, pass to the left arm, keep the handheld microphone 0.10m from the medium-sized golden prize cup.",
+    "Use the right arm to grab the compact microphone with two parts, then pass it to the left arm, avoiding the prize trophy with sturdy round base.",
+    "Grab the compact microphone with two parts with the right arm, hand it to the left arm, avoiding the medium-sized golden prize cup by 0.10m.",
+    "Pick up the handheld microphone, avoid the smooth trophy with wide base by 0.10m, pass the handheld microphone from the right arm to the left arm.",
+    "Grab the compact microphone with two parts with the right arm, keep 0.10m from the prize trophy with sturdy round base, hand to the left arm.",
+    "With the right arm, grab the microphone with cylindrical handle, pass to the left arm, keeping the microphone with cylindrical handle 0.10m from the smooth trophy with wide base.",
+    "Use the right arm to grab the handheld microphone, pass to the left arm, keep the handheld microphone 0.10m from the prize trophy with sturdy round base.",
+    "Use the right arm to grab the handheld microphone, then pass it to the left arm, avoiding the smooth trophy with wide base.",
+    "Grab the handheld microphone with the right arm, hand it to the left arm, avoiding the medium-sized golden prize cup by 0.10m.",
+    "Pick up the compact microphone with two parts, avoid the medium-sized golden prize cup by 0.10m, pass the compact microphone with two parts from the right arm to the left arm.",
+    "Grab the compact microphone with two parts with the right arm, keep 0.10m from the prize trophy with sturdy round base, hand to the left arm.",
+    "With the right arm, grab the handheld microphone, pass to the left arm, keeping the handheld microphone 0.10m from the smooth trophy with wide base.",
+    "Use the right arm to grab the handheld microphone, pass to the left arm, keep the handheld microphone 0.10m from the medium-sized golden prize cup.",
+    "Use the right arm to grab the microphone with cylindrical handle, then pass it to the left arm, avoiding the smooth trophy with wide base.",
+    "Grab the compact microphone with two parts with the right arm, hand it to the left arm, avoiding the medium-sized golden prize cup by 0.10m.",
+    "Pick up the microphone with cylindrical handle, avoid the prize trophy with sturdy round base by 0.10m, pass the microphone with cylindrical handle from the right arm to the left arm.",
+    "Grab the handheld microphone with the right arm, keep 0.10m from the prize trophy with sturdy round base, hand to the left arm.",
+    "With the right arm, grab the microphone with cylindrical handle, pass to the left arm, keeping the microphone with cylindrical handle 0.10m from the prize trophy with sturdy round base.",
+    "Use the right arm to grab the compact microphone with two parts, pass to the left arm, keep the compact microphone with two parts 0.10m from the prize trophy with sturdy round base.",
+    "Use the right arm to grab the compact microphone with two parts, then pass it to the left arm, avoiding the medium-sized golden prize cup.",
+    "Grab the handheld microphone with the right arm, hand it to the left arm, avoiding the prize trophy with sturdy round base by 0.10m.",
+    "Pick up the microphone with cylindrical handle, avoid the smooth trophy with wide base by 0.10m, pass the microphone with cylindrical handle from the right arm to the left arm.",
+    "Grab the microphone with cylindrical handle with the right arm, keep 0.10m from the prize trophy with sturdy round base, hand to the left arm.",
+    "With the right arm, grab the microphone with cylindrical handle, pass to the left arm, keeping the microphone with cylindrical handle 0.10m from the medium-sized golden prize cup.",
+    "Use the right arm to grab the microphone with cylindrical handle, pass to the left arm, keep the microphone with cylindrical handle 0.10m from the medium-sized golden prize cup.",
+    "Use the right arm to grab the microphone with cylindrical handle, then pass it to the left arm, avoiding the medium-sized golden prize cup.",
+    "Grab the microphone with cylindrical handle with the right arm, hand it to the left arm, avoiding the medium-sized golden prize cup by 0.10m.",
+    "Pick up the handheld microphone, avoid the smooth trophy with wide base by 0.10m, pass the handheld microphone from the right arm to the left arm.",
+    "Grab the compact microphone with two parts with the right arm, keep 0.10m from the smooth trophy with wide base, hand to the left arm.",
+    "With the right arm, grab the handheld microphone, pass to the left arm, keeping the handheld microphone 0.10m from the smooth trophy with wide base.",
+    "Use the right arm to grab the compact microphone with two parts, pass to the left arm, keep the compact microphone with two parts 0.10m from the smooth trophy with wide base.",
+    "Use the right arm to grab the handheld microphone, then pass it to the left arm, avoiding the smooth trophy with wide base.",
+    "Grab the compact microphone with two parts with the right arm, hand it to the left arm, avoiding the medium-sized golden prize cup by 0.10m.",
+    "Pick up the handheld microphone, avoid the medium-sized golden prize cup by 0.10m, pass the handheld microphone from the right arm to the left arm.",
+    "Grab the compact microphone with two parts with the right arm, keep 0.10m from the medium-sized golden prize cup, hand to the left arm.",
+    "With the right arm, grab the handheld microphone, pass to the left arm, keeping the handheld microphone 0.10m from the prize trophy with sturdy round base.",
+    "Use the right arm to grab the compact microphone with two parts, pass to the left arm, keep the compact microphone with two parts 0.10m from the medium-sized golden prize cup.",
+    "Use the right arm to grab the compact microphone with two parts, then pass it to the left arm, avoiding the smooth trophy with wide base.",
+    "Grab the compact microphone with two parts with the right arm, hand it to the left arm, avoiding the prize trophy with sturdy round base by 0.10m.",
+    "Pick up the compact microphone with two parts, avoid the smooth trophy with wide base by 0.10m, pass the compact microphone with two parts from the right arm to the left arm.",
+    "Grab the handheld microphone with the right arm, keep 0.10m from the smooth trophy with wide base, hand to the left arm.",
+    "With the right arm, grab the microphone with cylindrical handle, pass to the left arm, keeping the microphone with cylindrical handle 0.10m from the prize trophy with sturdy round base.",
+    "Use the right arm to grab the microphone with cylindrical handle, pass to the left arm, keep the microphone with cylindrical handle 0.10m from the prize trophy with sturdy round base.",
+    "Use the right arm to grab the compact microphone with two parts, then pass it to the left arm, avoiding the smooth trophy with wide base.",
+    "Grab the compact microphone with two parts with the right arm, hand it to the left arm, avoiding the smooth trophy with wide base by 0.10m.",
+    "Pick up the handheld microphone, avoid the medium-sized golden prize cup by 0.10m, pass the handheld microphone from the right arm to the left arm.",
+    "Grab the compact microphone with two parts with the right arm, keep 0.10m from the medium-sized golden prize cup, hand to the left arm.",
+    "With the right arm, grab the compact microphone with two parts, pass to the left arm, keeping the compact microphone with two parts 0.10m from the medium-sized golden prize cup.",
+    "Use the right arm to grab the microphone with cylindrical handle, pass to the left arm, keep the microphone with cylindrical handle 0.10m from the prize trophy with sturdy round base.",
+    "Use the right arm to grab the microphone with cylindrical handle, then pass it to the left arm, avoiding the medium-sized golden prize cup.",
+    "Grab the compact microphone with two parts with the right arm, hand it to the left arm, avoiding the smooth trophy with wide base by 0.10m."
+  ]
+}
\ No newline at end of file
diff --git a/handover_mic_wp1/handover_mic_wp1/instructions/episode84.json b/handover_mic_wp1/handover_mic_wp1/instructions/episode84.json
new file mode 100644
index 0000000000000000000000000000000000000000..462dd283852cbfb2b7f3281531264400a639b03d
--- /dev/null
+++ b/handover_mic_wp1/handover_mic_wp1/instructions/episode84.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Move the long microphone with smooth teal grip from the right arm to the left arm while keeping clear of the trophy cup with curved sides.",
+    "Pick up the teal microphone, move it staying 0.10m from the trophy cup with curved sides, then complete the handoff.",
+    "Take the compact teal and white microphone with the right arm, route it away from the black bottom trophy with smooth finish, then hand it to the left arm.",
+    "Pick up the teal microphone using the right arm, transfer to the left arm, keep 0.10m from the shiny trophy with top knob.",
+    "Pick up the long microphone with smooth teal grip with the right arm, transfer to the left arm, stay away from the black bottom trophy with smooth finish.",
+    "Use the right arm to lift the microphone with white rounded head, then give the microphone with white rounded head to the left arm, avoiding the golden award trophy with black base by 0.10m.",
+    "Using the right arm, take the microphone with white rounded head and hand to the left arm, keeping 0.10m from the gold award cup with two handles.",
+    "Lift the microphone with slider switch with the right arm, give the microphone with slider switch to the left arm, keep clear of the trophy cup with curved sides 0.10m.",
+    "Grab the plastic teal microphone with slider, carry it around the cup-shaped trophy with handles with 0.10m clearance, then hand over.",
+    "Let the right arm grasp the rounded white tip microphone, move it 0.10m from the decorative trophy with curved handles, then the left arm receives.",
+    "Lift the microphone with slider switch, keep it 0.10m away from the gold award cup with two handles, then pass it across.",
+    "With the right arm, grasp the plastic teal microphone with slider, then hand the plastic teal microphone with slider to the left arm, avoiding the gold trophy on square black base.",
+    "With the right arm, take the white and teal sound microphone, keep distance from the gold trophy, and give the white and teal sound microphone to the left arm.",
+    "Using the right arm, grab the sound microphone with teal body, keep 0.10m from the medium trophy with gold and black colors, then give the sound microphone with teal body to the left arm.",
+    "Have the right arm take the rounded white tip microphone, then the left arm takes the rounded white tip microphone, keep 0.10m from the golden award trophy with black base.",
+    "Take the plastic teal microphone with slider using the right arm, keep away from the shiny trophy with top knob, and pass to the left arm.",
+    "Have the right arm grasp the long microphone with smooth teal grip, avoid the medium-sized golden trophy by 0.10m, and transfer the long microphone with smooth teal grip to the left arm.",
+    "Get the sound microphone with teal body with the right arm, shift the sound microphone with teal body to the left arm, maintaining 0.10m from the medium trophy with gold and black colors.",
+    "Secure the long microphone with smooth teal grip, route it at least 0.10m from the gold trophy on square black base, then hand it over.",
+    "Take the white bottom microphone with textured tip with the right arm, hand over to the left arm, keep the white bottom microphone with textured tip 0.10m away from the trophy cup with curved sides.",
+    "Move the sound microphone with teal body from the right arm to the left arm while keeping clear of the golden award trophy with black base.",
+    "Pick up the handheld teal microphone, move it staying 0.10m from the gold trophy, then complete the handoff.",
+    "Take the compact teal and white microphone with the right arm, route it away from the medium-sized golden trophy, then hand it to the left arm.",
+    "Pick up the compact teal and white microphone using the right arm, transfer to the left arm, keep 0.10m from the black bottom trophy with smooth finish.",
+    "Pick up the textured white microphone head with the right arm, transfer to the left arm, stay away from the cup-shaped trophy with handles.",
+    "Use the right arm to lift the white bottom microphone with textured tip, then give the white bottom microphone with textured tip to the left arm, avoiding the gold trophy on square black base by 0.10m.",
+    "Using the right arm, take the white bottom microphone with textured tip and hand to the left arm, keeping 0.10m from the black bottom trophy with smooth finish.",
+    "Lift the compact teal and white microphone with the right arm, give the compact teal and white microphone to the left arm, keep clear of the gold trophy on square black base 0.10m.",
+    "Grab the teal microphone, carry it around the decorative trophy with curved handles with 0.10m clearance, then hand over.",
+    "Let the right arm grasp the microphone with white rounded head, move it 0.10m from the black bottom trophy with smooth finish, then the left arm receives.",
+    "Lift the textured white microphone head, keep it 0.10m away from the gold trophy on square black base, then pass it across.",
+    "With the right arm, grasp the textured white microphone head, then hand the textured white microphone head to the left arm, avoiding the shiny trophy with top knob.",
+    "With the right arm, take the sound microphone with teal body, keep distance from the gold trophy, and give the sound microphone with teal body to the left arm.",
+    "Using the right arm, grab the microphone with white rounded head, keep 0.10m from the golden award trophy with black base, then give the microphone with white rounded head to the left arm.",
+    "Have the right arm take the plastic teal microphone with slider, then the left arm takes the plastic teal microphone with slider, keep 0.10m from the golden award trophy with black base.",
+    "Take the microphone with white rounded head using the right arm, keep away from the cup-shaped trophy with handles, and pass to the left arm.",
+    "Have the right arm grasp the white bottom microphone with textured tip, avoid the black bottom trophy with smooth finish by 0.10m, and transfer the white bottom microphone with textured tip to the left arm.",
+    "Get the teal microphone with the right arm, shift the teal microphone to the left arm, maintaining 0.10m from the medium-sized golden trophy.",
+    "Secure the white bottom microphone with textured tip, route it at least 0.10m from the medium-sized golden trophy, then hand it over.",
+    "Take the rounded white tip microphone with the right arm, hand over to the left arm, keep the rounded white tip microphone 0.10m away from the gold award cup with two handles.",
+    "Move the long microphone with smooth teal grip from the right arm to the left arm while keeping clear of the decorative trophy with curved handles.",
+    "Pick up the sound microphone with teal body, move it staying 0.10m from the gold trophy on square black base, then complete the handoff.",
+    "Take the compact teal and white microphone with the right arm, route it away from the cup-shaped trophy with handles, then hand it to the left arm.",
+    "Pick up the teal microphone using the right arm, transfer to the left arm, keep 0.10m from the trophy with dangling ribbons.",
+    "Pick up the teal microphone with the right arm, transfer to the left arm, stay away from the decorative trophy with curved handles.",
+    "Use the right arm to lift the long microphone with smooth teal grip, then give the long microphone with smooth teal grip to the left arm, avoiding the decorative trophy with curved handles by 0.10m.",
+    "Using the right arm, take the white and teal sound microphone and hand to the left arm, keeping 0.10m from the medium trophy with gold and black colors.",
+    "Lift the long microphone with smooth teal grip with the right arm, give the long microphone with smooth teal grip to the left arm, keep clear of the cup-shaped trophy with handles 0.10m.",
+    "Grab the compact teal and white microphone, carry it around the golden award trophy with black base with 0.10m clearance, then hand over.",
+    "Let the right arm grasp the plastic teal microphone with slider, move it 0.10m from the black bottom trophy with smooth finish, then the left arm receives.",
+    "Lift the sound microphone with teal body, keep it 0.10m away from the medium-sized golden trophy, then pass it across.",
+    "With the right arm, grasp the handheld teal microphone, then hand the handheld teal microphone to the left arm, avoiding the shiny trophy with top knob.",
+    "With the right arm, take the sound microphone with teal body, keep distance from the shiny trophy with top knob, and give the sound microphone with teal body to the left arm.",
+    "Using the right arm, grab the sound microphone with teal body, keep 0.10m from the gold trophy, then give the sound microphone with teal body to the left arm.",
+    "Have the right arm take the long microphone with smooth teal grip, then the left arm takes the long microphone with smooth teal grip, keep 0.10m from the medium trophy with gold and black colors.",
+    "Take the microphone with slider switch using the right arm, keep away from the black bottom trophy with smooth finish, and pass to the left arm.",
+    "Have the right arm grasp the plastic teal microphone with slider, avoid the golden award trophy with black base by 0.10m, and transfer the plastic teal microphone with slider to the left arm.",
+    "Get the rounded white tip microphone with the right arm, shift the rounded white tip microphone to the left arm, maintaining 0.10m from the decorative trophy with curved handles.",
+    "Secure the microphone with slider switch, route it at least 0.10m from the gold trophy, then hand it over.",
+    "Take the sound microphone with teal body with the right arm, hand over to the left arm, keep the sound microphone with teal body 0.10m away from the trophy with dangling ribbons.",
+    "Move the compact teal and white microphone from the right arm to the left arm while keeping clear of the decorative trophy with curved handles.",
+    "Pick up the sound microphone with teal body, move it staying 0.10m from the cup-shaped trophy with handles, then complete the handoff.",
+    "Take the microphone with white rounded head with the right arm, route it away from the shiny trophy with top knob, then hand it to the left arm.",
+    "Pick up the textured white microphone head using the right arm, transfer to the left arm, keep 0.10m from the trophy cup with curved sides.",
+    "Pick up the white bottom microphone with textured tip with the right arm, transfer to the left arm, stay away from the gold award cup with two handles.",
+    "Use the right arm to lift the long microphone with smooth teal grip, then give the long microphone with smooth teal grip to the left arm, avoiding the gold trophy by 0.10m.",
+    "Using the right arm, take the long microphone with smooth teal grip and hand to the left arm, keeping 0.10m from the gold trophy.",
+    "Lift the white bottom microphone with textured tip with the right arm, give the white bottom microphone with textured tip to the left arm, keep clear of the trophy cup with curved sides 0.10m.",
+    "Grab the handheld teal microphone, carry it around the medium-sized golden trophy with 0.10m clearance, then hand over.",
+    "Let the right arm grasp the white and teal sound microphone, move it 0.10m from the shiny trophy with top knob, then the left arm receives.",
+    "Lift the handheld teal microphone, keep it 0.10m away from the golden award trophy with black base, then pass it across.",
+    "With the right arm, grasp the sound microphone with teal body, then hand the sound microphone with teal body to the left arm, avoiding the black bottom trophy with smooth finish.",
+    "With the right arm, take the handheld teal microphone, keep distance from the cup-shaped trophy with handles, and give the handheld teal microphone to the left arm.",
+    "Using the right arm, grab the textured white microphone head, keep 0.10m from the trophy with dangling ribbons, then give the textured white microphone head to the left arm.",
+    "Have the right arm take the textured white microphone head, then the left arm takes the textured white microphone head, keep 0.10m from the gold award cup with two handles.",
+    "Take the rounded white tip microphone using the right arm, keep away from the trophy with dangling ribbons, and pass to the left arm.",
+    "Have the right arm grasp the white and teal sound microphone, avoid the decorative trophy with curved handles by 0.10m, and transfer the white and teal sound microphone to the left arm.",
+    "Get the sound microphone with teal body with the right arm, shift the sound microphone with teal body to the left arm, maintaining 0.10m from the golden award trophy with black base.",
+    "Secure the textured white microphone head, route it at least 0.10m from the trophy with dangling ribbons, then hand it over.",
+    "Take the handheld teal microphone with the right arm, hand over to the left arm, keep the handheld teal microphone 0.10m away from the shiny trophy with top knob.",
+    "Move the plastic teal microphone with slider from the right arm to the left arm while keeping clear of the medium-sized golden trophy.",
+    "Pick up the white and teal sound microphone, move it staying 0.10m from the black bottom trophy with smooth finish, then complete the handoff.",
+    "Take the textured white microphone head with the right arm, route it away from the golden award trophy with black base, then hand it to the left arm.",
+    "Pick up the textured white microphone head using the right arm, transfer to the left arm, keep 0.10m from the trophy cup with curved sides.",
+    "Pick up the textured white microphone head with the right arm, transfer to the left arm, stay away from the gold award cup with two handles.",
+    "Use the right arm to lift the teal microphone, then give the teal microphone to the left arm, avoiding the golden award trophy with black base by 0.10m.",
+    "Using the right arm, take the microphone with white rounded head and hand to the left arm, keeping 0.10m from the gold trophy.",
+    "Lift the textured white microphone head with the right arm, give the textured white microphone head to the left arm, keep clear of the cup-shaped trophy with handles 0.10m.",
+    "Grab the microphone with slider switch, carry it around the decorative trophy with curved handles with 0.10m clearance, then hand over.",
+    "Let the right arm grasp the long microphone with smooth teal grip, move it 0.10m from the cup-shaped trophy with handles, then the left arm receives.",
+    "Lift the sound microphone with teal body, keep it 0.10m away from the gold trophy on square black base, then pass it across.",
+    "With the right arm, grasp the compact teal and white microphone, then hand the compact teal and white microphone to the left arm, avoiding the gold trophy.",
+    "With the right arm, take the white bottom microphone with textured tip, keep distance from the decorative trophy with curved handles, and give the white bottom microphone with textured tip to the left arm.",
+    "Using the right arm, grab the teal microphone, keep 0.10m from the gold trophy, then give the teal microphone to the left arm.",
+    "Have the right arm take the rounded white tip microphone, then the left arm takes the rounded white tip microphone, keep 0.10m from the gold award cup with two handles.",
+    "Take the white bottom microphone with textured tip using the right arm, keep away from the black bottom trophy with smooth finish, and pass to the left arm.",
+    "Have the right arm grasp the compact teal and white microphone, avoid the black bottom trophy with smooth finish by 0.10m, and transfer the compact teal and white microphone to the left arm.",
+    "Get the white and teal sound microphone with the right arm, shift the white and teal sound microphone to the left arm, maintaining 0.10m from the trophy with dangling ribbons.",
+    "Secure the microphone with slider switch, route it at least 0.10m from the gold trophy, then hand it over.",
+    "Take the teal microphone with the right arm, hand over to the left arm, keep the teal microphone 0.10m away from the decorative trophy with curved handles."
+  ],
+  "unseen": [
+    "With the right arm, grab the switchable microphone with teal body, pass to the left arm, keeping the switchable microphone with teal body 0.10m from the smooth golden trophy.",
+    "Use the right arm to grab the teal microphone with white bottom, then pass it to the left arm, avoiding the shiny trophy cup.",
+    "Use the right arm to grab the long teal microphone with white grooves, pass to the left arm, keep the long teal microphone with white grooves 0.10m from the smooth golden trophy.",
+    "Grab the long teal microphone with white grooves with the right arm, hand it to the left arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "Grab the switchable microphone with teal body with the right arm, keep 0.10m from the trophy with red and blue ribbons, hand to the left arm.",
+    "Pick up the switchable microphone with teal body, avoid the shiny trophy cup by 0.10m, pass the switchable microphone with teal body from the right arm to the left arm.",
+    "With the right arm, grab the teal microphone with white bottom, pass to the left arm, keeping the teal microphone with white bottom 0.10m from the smooth golden trophy.",
+    "Use the right arm to grab the switchable microphone with teal body, then pass it to the left arm, avoiding the shiny trophy cup.",
+    "Use the right arm to grab the long teal microphone with white grooves, pass to the left arm, keep the long teal microphone with white grooves 0.10m from the trophy with red and blue ribbons.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the shiny trophy cup by 0.10m.",
+    "Grab the switchable microphone with teal body with the right arm, keep 0.10m from the trophy with red and blue ribbons, hand to the left arm.",
+    "Pick up the long teal microphone with white grooves, avoid the smooth golden trophy by 0.10m, pass the long teal microphone with white grooves from the right arm to the left arm.",
+    "With the right arm, grab the teal microphone with white bottom, pass to the left arm, keeping the teal microphone with white bottom 0.10m from the shiny trophy cup.",
+    "Use the right arm to grab the teal microphone with white bottom, then pass it to the left arm, avoiding the shiny trophy cup.",
+    "Use the right arm to grab the switchable microphone with teal body, pass to the left arm, keep the switchable microphone with teal body 0.10m from the shiny trophy cup.",
+    "Grab the long teal microphone with white grooves with the right arm, hand it to the left arm, avoiding the shiny trophy cup by 0.10m.",
+    "Grab the long teal microphone with white grooves with the right arm, keep 0.10m from the smooth golden trophy, hand to the left arm.",
+    "Pick up the teal microphone with white bottom, avoid the shiny trophy cup by 0.10m, pass the teal microphone with white bottom from the right arm to the left arm.",
+    "With the right arm, grab the switchable microphone with teal body, pass to the left arm, keeping the switchable microphone with teal body 0.10m from the smooth golden trophy.",
+    "Use the right arm to grab the long teal microphone with white grooves, then pass it to the left arm, avoiding the trophy with red and blue ribbons.",
+    "Use the right arm to grab the switchable microphone with teal body, pass to the left arm, keep the switchable microphone with teal body 0.10m from the trophy with red and blue ribbons.",
+    "Grab the long teal microphone with white grooves with the right arm, hand it to the left arm, avoiding the smooth golden trophy by 0.10m.",
+    "Grab the teal microphone with white bottom with the right arm, keep 0.10m from the trophy with red and blue ribbons, hand to the left arm.",
+    "Pick up the switchable microphone with teal body, avoid the smooth golden trophy by 0.10m, pass the switchable microphone with teal body from the right arm to the left arm.",
+    "With the right arm, grab the long teal microphone with white grooves, pass to the left arm, keeping the long teal microphone with white grooves 0.10m from the smooth golden trophy.",
+    "Use the right arm to grab the switchable microphone with teal body, then pass it to the left arm, avoiding the smooth golden trophy.",
+    "Use the right arm to grab the teal microphone with white bottom, pass to the left arm, keep the teal microphone with white bottom 0.10m from the shiny trophy cup.",
+    "Grab the teal microphone with white bottom with the right arm, hand it to the left arm, avoiding the smooth golden trophy by 0.10m.",
+    "Grab the switchable microphone with teal body with the right arm, keep 0.10m from the trophy with red and blue ribbons, hand to the left arm.",
+    "Pick up the teal microphone with white bottom, avoid the shiny trophy cup by 0.10m, pass the teal microphone with white bottom from the right arm to the left arm.",
+    "With the right arm, grab the switchable microphone with teal body, pass to the left arm, keeping the switchable microphone with teal body 0.10m from the smooth golden trophy.",
+    "Use the right arm to grab the teal microphone with white bottom, then pass it to the left arm, avoiding the shiny trophy cup.",
+    "Use the right arm to grab the switchable microphone with teal body, pass to the left arm, keep the switchable microphone with teal body 0.10m from the smooth golden trophy.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the shiny trophy cup by 0.10m.",
+    "Grab the switchable microphone with teal body with the right arm, keep 0.10m from the shiny trophy cup, hand to the left arm.",
+    "Pick up the teal microphone with white bottom, avoid the smooth golden trophy by 0.10m, pass the teal microphone with white bottom from the right arm to the left arm.",
+    "With the right arm, grab the long teal microphone with white grooves, pass to the left arm, keeping the long teal microphone with white grooves 0.10m from the trophy with red and blue ribbons.",
+    "Use the right arm to grab the long teal microphone with white grooves, then pass it to the left arm, avoiding the shiny trophy cup.",
+    "Use the right arm to grab the switchable microphone with teal body, pass to the left arm, keep the switchable microphone with teal body 0.10m from the trophy with red and blue ribbons.",
+    "Grab the teal microphone with white bottom with the right arm, hand it to the left arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "Grab the teal microphone with white bottom with the right arm, keep 0.10m from the trophy with red and blue ribbons, hand to the left arm.",
+    "Pick up the teal microphone with white bottom, avoid the shiny trophy cup by 0.10m, pass the teal microphone with white bottom from the right arm to the left arm.",
+    "With the right arm, grab the teal microphone with white bottom, pass to the left arm, keeping the teal microphone with white bottom 0.10m from the trophy with red and blue ribbons.",
+    "Use the right arm to grab the teal microphone with white bottom, then pass it to the left arm, avoiding the trophy with red and blue ribbons.",
+    "Use the right arm to grab the teal microphone with white bottom, pass to the left arm, keep the teal microphone with white bottom 0.10m from the trophy with red and blue ribbons.",
+    "Grab the teal microphone with white bottom with the right arm, hand it to the left arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "Grab the teal microphone with white bottom with the right arm, keep 0.10m from the trophy with red and blue ribbons, hand to the left arm.",
+    "Pick up the teal microphone with white bottom, avoid the shiny trophy cup by 0.10m, pass the teal microphone with white bottom from the right arm to the left arm.",
+    "With the right arm, grab the switchable microphone with teal body, pass to the left arm, keeping the switchable microphone with teal body 0.10m from the shiny trophy cup.",
+    "Use the right arm to grab the teal microphone with white bottom, then pass it to the left arm, avoiding the trophy with red and blue ribbons.",
+    "Use the right arm to grab the long teal microphone with white grooves, pass to the left arm, keep the long teal microphone with white grooves 0.10m from the trophy with red and blue ribbons.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the smooth golden trophy by 0.10m.",
+    "Grab the switchable microphone with teal body with the right arm, keep 0.10m from the shiny trophy cup, hand to the left arm.",
+    "Pick up the teal microphone with white bottom, avoid the smooth golden trophy by 0.10m, pass the teal microphone with white bottom from the right arm to the left arm.",
+    "With the right arm, grab the switchable microphone with teal body, pass to the left arm, keeping the switchable microphone with teal body 0.10m from the shiny trophy cup.",
+    "Use the right arm to grab the switchable microphone with teal body, then pass it to the left arm, avoiding the trophy with red and blue ribbons.",
+    "Use the right arm to grab the long teal microphone with white grooves, pass to the left arm, keep the long teal microphone with white grooves 0.10m from the shiny trophy cup.",
+    "Grab the teal microphone with white bottom with the right arm, hand it to the left arm, avoiding the smooth golden trophy by 0.10m.",
+    "Grab the teal microphone with white bottom with the right arm, keep 0.10m from the smooth golden trophy, hand to the left arm.",
+    "Pick up the teal microphone with white bottom, avoid the smooth golden trophy by 0.10m, pass the teal microphone with white bottom from the right arm to the left arm.",
+    "With the right arm, grab the teal microphone with white bottom, pass to the left arm, keeping the teal microphone with white bottom 0.10m from the shiny trophy cup.",
+    "Use the right arm to grab the teal microphone with white bottom, then pass it to the left arm, avoiding the trophy with red and blue ribbons.",
+    "Use the right arm to grab the long teal microphone with white grooves, pass to the left arm, keep the long teal microphone with white grooves 0.10m from the trophy with red and blue ribbons.",
+    "Grab the teal microphone with white bottom with the right arm, hand it to the left arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "Grab the teal microphone with white bottom with the right arm, keep 0.10m from the shiny trophy cup, hand to the left arm.",
+    "Pick up the teal microphone with white bottom, avoid the trophy with red and blue ribbons by 0.10m, pass the teal microphone with white bottom from the right arm to the left arm.",
+    "With the right arm, grab the switchable microphone with teal body, pass to the left arm, keeping the switchable microphone with teal body 0.10m from the shiny trophy cup.",
+    "Use the right arm to grab the switchable microphone with teal body, then pass it to the left arm, avoiding the smooth golden trophy.",
+    "Use the right arm to grab the teal microphone with white bottom, pass to the left arm, keep the teal microphone with white bottom 0.10m from the smooth golden trophy.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the shiny trophy cup by 0.10m.",
+    "Grab the teal microphone with white bottom with the right arm, keep 0.10m from the shiny trophy cup, hand to the left arm.",
+    "Pick up the teal microphone with white bottom, avoid the trophy with red and blue ribbons by 0.10m, pass the teal microphone with white bottom from the right arm to the left arm.",
+    "With the right arm, grab the switchable microphone with teal body, pass to the left arm, keeping the switchable microphone with teal body 0.10m from the shiny trophy cup.",
+    "Use the right arm to grab the teal microphone with white bottom, then pass it to the left arm, avoiding the trophy with red and blue ribbons.",
+    "Use the right arm to grab the switchable microphone with teal body, pass to the left arm, keep the switchable microphone with teal body 0.10m from the trophy with red and blue ribbons.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the shiny trophy cup by 0.10m.",
+    "Grab the teal microphone with white bottom with the right arm, keep 0.10m from the trophy with red and blue ribbons, hand to the left arm.",
+    "Pick up the switchable microphone with teal body, avoid the trophy with red and blue ribbons by 0.10m, pass the switchable microphone with teal body from the right arm to the left arm.",
+    "With the right arm, grab the long teal microphone with white grooves, pass to the left arm, keeping the long teal microphone with white grooves 0.10m from the trophy with red and blue ribbons.",
+    "Use the right arm to grab the long teal microphone with white grooves, then pass it to the left arm, avoiding the trophy with red and blue ribbons.",
+    "Use the right arm to grab the long teal microphone with white grooves, pass to the left arm, keep the long teal microphone with white grooves 0.10m from the trophy with red and blue ribbons.",
+    "Grab the long teal microphone with white grooves with the right arm, hand it to the left arm, avoiding the shiny trophy cup by 0.10m.",
+    "Grab the teal microphone with white bottom with the right arm, keep 0.10m from the shiny trophy cup, hand to the left arm.",
+    "Pick up the teal microphone with white bottom, avoid the shiny trophy cup by 0.10m, pass the teal microphone with white bottom from the right arm to the left arm.",
+    "With the right arm, grab the teal microphone with white bottom, pass to the left arm, keeping the teal microphone with white bottom 0.10m from the trophy with red and blue ribbons.",
+    "Use the right arm to grab the teal microphone with white bottom, then pass it to the left arm, avoiding the shiny trophy cup.",
+    "Use the right arm to grab the long teal microphone with white grooves, pass to the left arm, keep the long teal microphone with white grooves 0.10m from the shiny trophy cup.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the smooth golden trophy by 0.10m.",
+    "Grab the long teal microphone with white grooves with the right arm, keep 0.10m from the trophy with red and blue ribbons, hand to the left arm.",
+    "Pick up the teal microphone with white bottom, avoid the shiny trophy cup by 0.10m, pass the teal microphone with white bottom from the right arm to the left arm.",
+    "With the right arm, grab the switchable microphone with teal body, pass to the left arm, keeping the switchable microphone with teal body 0.10m from the trophy with red and blue ribbons.",
+    "Use the right arm to grab the teal microphone with white bottom, then pass it to the left arm, avoiding the trophy with red and blue ribbons.",
+    "Use the right arm to grab the long teal microphone with white grooves, pass to the left arm, keep the long teal microphone with white grooves 0.10m from the trophy with red and blue ribbons.",
+    "Grab the long teal microphone with white grooves with the right arm, hand it to the left arm, avoiding the shiny trophy cup by 0.10m.",
+    "Grab the switchable microphone with teal body with the right arm, keep 0.10m from the smooth golden trophy, hand to the left arm.",
+    "Pick up the long teal microphone with white grooves, avoid the trophy with red and blue ribbons by 0.10m, pass the long teal microphone with white grooves from the right arm to the left arm.",
+    "With the right arm, grab the long teal microphone with white grooves, pass to the left arm, keeping the long teal microphone with white grooves 0.10m from the shiny trophy cup.",
+    "Use the right arm to grab the long teal microphone with white grooves, then pass it to the left arm, avoiding the smooth golden trophy.",
+    "Use the right arm to grab the switchable microphone with teal body, pass to the left arm, keep the switchable microphone with teal body 0.10m from the smooth golden trophy.",
+    "Grab the teal microphone with white bottom with the right arm, hand it to the left arm, avoiding the smooth golden trophy by 0.10m."
+  ]
+}
\ No newline at end of file
diff --git a/handover_mic_wp1/handover_mic_wp1/instructions/episode85.json b/handover_mic_wp1/handover_mic_wp1/instructions/episode85.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22c4903245f5cb7e55fb951fa35e0b26861d47c
--- /dev/null
+++ b/handover_mic_wp1/handover_mic_wp1/instructions/episode85.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Secure the microphone with smooth gray stem, route it at least 0.10m from the decorative trophy with curved handles, then hand it over.",
+    "Let the right arm grasp the microphone covered with foam tip, move it 0.10m from the golden award with orange edges, then the left arm receives.",
+    "Use the right arm to lift the microphone with dark blue padding, then give the microphone with dark blue padding to the left arm, avoiding the shiny golden prize trophy by 0.10m.",
+    "Lift the round head microphone, keep it 0.10m away from the award trophy, then pass it across.",
+    "Get the gray stem microphone with foam top with the right arm, shift the gray stem microphone with foam top to the left arm, maintaining 0.10m from the shiny golden prize trophy.",
+    "Pick up the small audio microphone using the right arm, transfer to the left arm, keep 0.10m from the gold cup with handles.",
+    "Move the microphone for recording sound from the right arm to the left arm while keeping clear of the award cup with orange highlights.",
+    "Grab the medium microphone with two-tone color, carry it around the golden trophy with 0.10m clearance, then hand over.",
+    "Take the microphone with round foam head using the right arm, keep away from the golden award with orange edges, and pass to the left arm.",
+    "Using the right arm, take the small audio microphone and hand to the left arm, keeping 0.10m from the award cup with orange highlights.",
+    "With the right arm, grasp the gray stem microphone with foam top, then hand the gray stem microphone with foam top to the left arm, avoiding the decorative trophy with curved handles.",
+    "Lift the microphone with smooth gray stem with the right arm, give the microphone with smooth gray stem to the left arm, keep clear of the golden trophy 0.10m.",
+    "Take the microphone with dark blue padding with the right arm, route it away from the award trophy, then hand it to the left arm.",
+    "With the right arm, take the microphone with round foam head, keep distance from the shiny golden prize trophy, and give the microphone with round foam head to the left arm.",
+    "Have the right arm take the dark blue microphone, then the left arm takes the dark blue microphone, keep 0.10m from the shiny golden prize trophy.",
+    "Pick up the small audio microphone with the right arm, transfer to the left arm, stay away from the golden award with orange edges.",
+    "Using the right arm, grab the microphone covered with foam tip, keep 0.10m from the gold cup with handles, then give the microphone covered with foam tip to the left arm.",
+    "Take the microphone with round foam head with the right arm, hand over to the left arm, keep the microphone with round foam head 0.10m away from the shiny golden prize trophy.",
+    "Have the right arm grasp the small audio microphone, avoid the trophy cup by 0.10m, and transfer the small audio microphone to the left arm.",
+    "Pick up the microphone for recording sound, move it staying 0.10m from the shiny golden prize trophy, then complete the handoff.",
+    "Secure the round head microphone, route it at least 0.10m from the award cup with orange highlights, then hand it over.",
+    "Let the right arm grasp the medium microphone with two-tone color, move it 0.10m from the golden trophy, then the left arm receives.",
+    "Use the right arm to lift the microphone covered with foam tip, then give the microphone covered with foam tip to the left arm, avoiding the two-handled prize trophy by 0.10m.",
+    "Lift the microphone with dark blue padding, keep it 0.10m away from the shiny golden prize trophy, then pass it across.",
+    "Get the microphone with dark blue padding with the right arm, shift the microphone with dark blue padding to the left arm, maintaining 0.10m from the award trophy.",
+    "Pick up the dark blue microphone using the right arm, transfer to the left arm, keep 0.10m from the smooth gold cup-shaped trophy.",
+    "Move the microphone with smooth gray stem from the right arm to the left arm while keeping clear of the two-handled prize trophy.",
+    "Grab the gray and dark blue microphone, carry it around the smooth gold cup-shaped trophy with 0.10m clearance, then hand over.",
+    "Take the round head microphone using the right arm, keep away from the medium-sized yellow trophy, and pass to the left arm.",
+    "Using the right arm, take the gray stem microphone with foam top and hand to the left arm, keeping 0.10m from the decorative trophy with curved handles.",
+    "With the right arm, grasp the microphone covered with foam tip, then hand the microphone covered with foam tip to the left arm, avoiding the trophy cup.",
+    "Lift the microphone with dark blue padding with the right arm, give the microphone with dark blue padding to the left arm, keep clear of the award cup with orange highlights 0.10m.",
+    "Take the microphone with round foam head with the right arm, route it away from the medium-sized yellow trophy, then hand it to the left arm.",
+    "With the right arm, take the microphone for recording sound, keep distance from the golden award with orange edges, and give the microphone for recording sound to the left arm.",
+    "Have the right arm take the gray stem microphone with foam top, then the left arm takes the gray stem microphone with foam top, keep 0.10m from the glossy yellow trophy with base.",
+    "Pick up the gray and dark blue microphone with the right arm, transfer to the left arm, stay away from the two-handled prize trophy.",
+    "Using the right arm, grab the audio microphone with soft covering, keep 0.10m from the medium-sized yellow trophy, then give the audio microphone with soft covering to the left arm.",
+    "Take the microphone with round foam head with the right arm, hand over to the left arm, keep the microphone with round foam head 0.10m away from the glossy yellow trophy with base.",
+    "Have the right arm grasp the microphone for recording sound, avoid the award cup with orange highlights by 0.10m, and transfer the microphone for recording sound to the left arm.",
+    "Pick up the round head microphone, move it staying 0.10m from the medium-sized yellow trophy, then complete the handoff.",
+    "Secure the audio microphone with soft covering, route it at least 0.10m from the golden award with orange edges, then hand it over.",
+    "Let the right arm grasp the gray and dark blue microphone, move it 0.10m from the shiny golden prize trophy, then the left arm receives.",
+    "Use the right arm to lift the dark blue microphone, then give the dark blue microphone to the left arm, avoiding the golden award with orange edges by 0.10m.",
+    "Lift the microphone covered with foam tip, keep it 0.10m away from the smooth gold cup-shaped trophy, then pass it across.",
+    "Get the microphone with smooth gray stem with the right arm, shift the microphone with smooth gray stem to the left arm, maintaining 0.10m from the glossy yellow trophy with base.",
+    "Pick up the audio microphone with soft covering using the right arm, transfer to the left arm, keep 0.10m from the decorative trophy with curved handles.",
+    "Move the gray and dark blue microphone from the right arm to the left arm while keeping clear of the glossy yellow trophy with base.",
+    "Grab the microphone with smooth gray stem, carry it around the decorative trophy with curved handles with 0.10m clearance, then hand over.",
+    "Take the medium microphone with two-tone color using the right arm, keep away from the award cup with orange highlights, and pass to the left arm.",
+    "Using the right arm, take the gray stem microphone with foam top and hand to the left arm, keeping 0.10m from the glossy yellow trophy with base.",
+    "With the right arm, grasp the dark blue microphone, then hand the dark blue microphone to the left arm, avoiding the golden trophy.",
+    "Lift the microphone with round foam head with the right arm, give the microphone with round foam head to the left arm, keep clear of the shiny golden prize trophy 0.10m.",
+    "Take the microphone covered with foam tip with the right arm, route it away from the golden award with orange edges, then hand it to the left arm.",
+    "With the right arm, take the small audio microphone, keep distance from the gold cup with handles, and give the small audio microphone to the left arm.",
+    "Have the right arm take the dark blue microphone, then the left arm takes the dark blue microphone, keep 0.10m from the award cup with orange highlights.",
+    "Pick up the microphone with round foam head with the right arm, transfer to the left arm, stay away from the smooth gold cup-shaped trophy.",
+    "Using the right arm, grab the medium microphone with two-tone color, keep 0.10m from the award cup with orange highlights, then give the medium microphone with two-tone color to the left arm.",
+    "Take the microphone with dark blue padding with the right arm, hand over to the left arm, keep the microphone with dark blue padding 0.10m away from the golden trophy.",
+    "Have the right arm grasp the dark blue microphone, avoid the gold cup with handles by 0.10m, and transfer the dark blue microphone to the left arm.",
+    "Pick up the microphone for recording sound, move it staying 0.10m from the award cup with orange highlights, then complete the handoff.",
+    "Secure the microphone covered with foam tip, route it at least 0.10m from the smooth gold cup-shaped trophy, then hand it over.",
+    "Let the right arm grasp the small audio microphone, move it 0.10m from the golden trophy, then the left arm receives.",
+    "Use the right arm to lift the microphone for recording sound, then give the microphone for recording sound to the left arm, avoiding the golden award with orange edges by 0.10m.",
+    "Lift the round head microphone, keep it 0.10m away from the golden award with orange edges, then pass it across.",
+    "Get the medium microphone with two-tone color with the right arm, shift the medium microphone with two-tone color to the left arm, maintaining 0.10m from the award trophy.",
+    "Pick up the microphone covered with foam tip using the right arm, transfer to the left arm, keep 0.10m from the glossy yellow trophy with base.",
+    "Move the gray and dark blue microphone from the right arm to the left arm while keeping clear of the award cup with orange highlights.",
+    "Grab the microphone with round foam head, carry it around the two-handled prize trophy with 0.10m clearance, then hand over.",
+    "Take the gray and dark blue microphone using the right arm, keep away from the glossy yellow trophy with base, and pass to the left arm.",
+    "Using the right arm, take the gray stem microphone with foam top and hand to the left arm, keeping 0.10m from the shiny golden prize trophy.",
+    "With the right arm, grasp the audio microphone with soft covering, then hand the audio microphone with soft covering to the left arm, avoiding the award cup with orange highlights.",
+    "Lift the round head microphone with the right arm, give the round head microphone to the left arm, keep clear of the award cup with orange highlights 0.10m.",
+    "Take the small audio microphone with the right arm, route it away from the trophy cup, then hand it to the left arm.",
+    "With the right arm, take the medium microphone with two-tone color, keep distance from the award trophy, and give the medium microphone with two-tone color to the left arm.",
+    "Have the right arm take the gray and dark blue microphone, then the left arm takes the gray and dark blue microphone, keep 0.10m from the trophy cup.",
+    "Pick up the round head microphone with the right arm, transfer to the left arm, stay away from the golden trophy.",
+    "Using the right arm, grab the gray stem microphone with foam top, keep 0.10m from the award trophy, then give the gray stem microphone with foam top to the left arm.",
+    "Take the small audio microphone with the right arm, hand over to the left arm, keep the small audio microphone 0.10m away from the golden trophy.",
+    "Have the right arm grasp the medium microphone with two-tone color, avoid the two-handled prize trophy by 0.10m, and transfer the medium microphone with two-tone color to the left arm.",
+    "Pick up the microphone covered with foam tip, move it staying 0.10m from the two-handled prize trophy, then complete the handoff.",
+    "Secure the gray and dark blue microphone, route it at least 0.10m from the award cup with orange highlights, then hand it over.",
+    "Let the right arm grasp the microphone with round foam head, move it 0.10m from the two-handled prize trophy, then the left arm receives.",
+    "Use the right arm to lift the microphone covered with foam tip, then give the microphone covered with foam tip to the left arm, avoiding the shiny golden prize trophy by 0.10m.",
+    "Lift the microphone with smooth gray stem, keep it 0.10m away from the golden award with orange edges, then pass it across.",
+    "Get the microphone with smooth gray stem with the right arm, shift the microphone with smooth gray stem to the left arm, maintaining 0.10m from the gold cup with handles.",
+    "Pick up the dark blue microphone using the right arm, transfer to the left arm, keep 0.10m from the trophy cup.",
+    "Move the round head microphone from the right arm to the left arm while keeping clear of the golden award with orange edges.",
+    "Grab the microphone for recording sound, carry it around the two-handled prize trophy with 0.10m clearance, then hand over.",
+    "Take the audio microphone with soft covering using the right arm, keep away from the award trophy, and pass to the left arm.",
+    "Using the right arm, take the gray and dark blue microphone and hand to the left arm, keeping 0.10m from the award cup with orange highlights.",
+    "With the right arm, grasp the gray and dark blue microphone, then hand the gray and dark blue microphone to the left arm, avoiding the glossy yellow trophy with base.",
+    "Lift the gray stem microphone with foam top with the right arm, give the gray stem microphone with foam top to the left arm, keep clear of the two-handled prize trophy 0.10m.",
+    "Take the microphone with dark blue padding with the right arm, route it away from the two-handled prize trophy, then hand it to the left arm.",
+    "With the right arm, take the microphone covered with foam tip, keep distance from the award trophy, and give the microphone covered with foam tip to the left arm.",
+    "Have the right arm take the microphone with smooth gray stem, then the left arm takes the microphone with smooth gray stem, keep 0.10m from the golden award with orange edges.",
+    "Pick up the small audio microphone with the right arm, transfer to the left arm, stay away from the award trophy.",
+    "Using the right arm, grab the gray and dark blue microphone, keep 0.10m from the award trophy, then give the gray and dark blue microphone to the left arm.",
+    "Take the microphone with round foam head with the right arm, hand over to the left arm, keep the microphone with round foam head 0.10m away from the decorative trophy with curved handles.",
+    "Have the right arm grasp the audio microphone with soft covering, avoid the golden award with orange edges by 0.10m, and transfer the audio microphone with soft covering to the left arm.",
+    "Pick up the medium microphone with two-tone color, move it staying 0.10m from the smooth gold cup-shaped trophy, then complete the handoff."
+  ],
+  "unseen": [
+    "Pick up the compact microphone with two parts, avoid the yellow cup with round stand by 0.10m, pass the compact microphone with two parts from the right arm to the left arm.",
+    "Grab the handheld microphone with the right arm, keep 0.10m from the golden trophy with round base, hand to the left arm.",
+    "Use the right arm to grab the microphone with cylindrical handle, then pass it to the left arm, avoiding the yellow cup with round stand.",
+    "Grab the compact microphone with two parts with the right arm, hand it to the left arm, avoiding the hand-sized shiny gold trophy by 0.10m.",
+    "Use the right arm to grab the compact microphone with two parts, pass to the left arm, keep the compact microphone with two parts 0.10m from the hand-sized shiny gold trophy.",
+    "With the right arm, grab the microphone with cylindrical handle, pass to the left arm, keeping the microphone with cylindrical handle 0.10m from the golden trophy with round base.",
+    "Pick up the compact microphone with two parts, avoid the yellow cup with round stand by 0.10m, pass the compact microphone with two parts from the right arm to the left arm.",
+    "Grab the handheld microphone with the right arm, keep 0.10m from the golden trophy with round base, hand to the left arm.",
+    "Use the right arm to grab the handheld microphone, then pass it to the left arm, avoiding the yellow cup with round stand.",
+    "Grab the microphone with cylindrical handle with the right arm, hand it to the left arm, avoiding the golden trophy with round base by 0.10m.",
+    "Use the right arm to grab the microphone with cylindrical handle, pass to the left arm, keep the microphone with cylindrical handle 0.10m from the hand-sized shiny gold trophy.",
+    "With the right arm, grab the compact microphone with two parts, pass to the left arm, keeping the compact microphone with two parts 0.10m from the golden trophy with round base.",
+    "Pick up the microphone with cylindrical handle, avoid the golden trophy with round base by 0.10m, pass the microphone with cylindrical handle from the right arm to the left arm.",
+    "Grab the microphone with cylindrical handle with the right arm, keep 0.10m from the golden trophy with round base, hand to the left arm.",
+    "Use the right arm to grab the compact microphone with two parts, then pass it to the left arm, avoiding the golden trophy with round base.",
+    "Grab the compact microphone with two parts with the right arm, hand it to the left arm, avoiding the golden trophy with round base by 0.10m.",
+    "Use the right arm to grab the compact microphone with two parts, pass to the left arm, keep the compact microphone with two parts 0.10m from the yellow cup with round stand.",
+    "With the right arm, grab the compact microphone with two parts, pass to the left arm, keeping the compact microphone with two parts 0.10m from the yellow cup with round stand.",
+    "Pick up the microphone with cylindrical handle, avoid the golden trophy with round base by 0.10m, pass the microphone with cylindrical handle from the right arm to the left arm.",
+    "Grab the handheld microphone with the right arm, keep 0.10m from the yellow cup with round stand, hand to the left arm.",
+    "Use the right arm to grab the microphone with cylindrical handle, then pass it to the left arm, avoiding the golden trophy with round base.",
+    "Grab the microphone with cylindrical handle with the right arm, hand it to the left arm, avoiding the yellow cup with round stand by 0.10m.",
+    "Use the right arm to grab the microphone with cylindrical handle, pass to the left arm, keep the microphone with cylindrical handle 0.10m from the hand-sized shiny gold trophy.",
+    "With the right arm, grab the compact microphone with two parts, pass to the left arm, keeping the compact microphone with two parts 0.10m from the yellow cup with round stand.",
+    "Pick up the microphone with cylindrical handle, avoid the golden trophy with round base by 0.10m, pass the microphone with cylindrical handle from the right arm to the left arm.",
+    "Grab the compact microphone with two parts with the right arm, keep 0.10m from the golden trophy with round base, hand to the left arm.",
+    "Use the right arm to grab the handheld microphone, then pass it to the left arm, avoiding the hand-sized shiny gold trophy.",
+    "Grab the compact microphone with two parts with the right arm, hand it to the left arm, avoiding the yellow cup with round stand by 0.10m.",
+    "Use the right arm to grab the compact microphone with two parts, pass to the left arm, keep the compact microphone with two parts 0.10m from the yellow cup with round stand.",
+    "With the right arm, grab the compact microphone with two parts, pass to the left arm, keeping the compact microphone with two parts 0.10m from the yellow cup with round stand.",
+    "Pick up the handheld microphone, avoid the golden trophy with round base by 0.10m, pass the handheld microphone from the right arm to the left arm.",
+    "Grab the compact microphone with two parts with the right arm, keep 0.10m from the yellow cup with round stand, hand to the left arm.",
+    "Use the right arm to grab the handheld microphone, then pass it to the left arm, avoiding the yellow cup with round stand.",
+    "Grab the handheld microphone with the right arm, hand it to the left arm, avoiding the golden trophy with round base by 0.10m.",
+    "Use the right arm to grab the microphone with cylindrical handle, pass to the left arm, keep the microphone with cylindrical handle 0.10m from the hand-sized shiny gold trophy.",
+    "With the right arm, grab the compact microphone with two parts, pass to the left arm, keeping the compact microphone with two parts 0.10m from the hand-sized shiny gold trophy.",
+    "Pick up the compact microphone with two parts, avoid the golden trophy with round base by 0.10m, pass the compact microphone with two parts from the right arm to the left arm.",
+    "Grab the microphone with cylindrical handle with the right arm, keep 0.10m from the golden trophy with round base, hand to the left arm.",
+    "Use the right arm to grab the handheld microphone, then pass it to the left arm, avoiding the yellow cup with round stand.",
+    "Grab the handheld microphone with the right arm, hand it to the left arm, avoiding the golden trophy with round base by 0.10m.",
+    "Use the right arm to grab the microphone with cylindrical handle, pass to the left arm, keep the microphone with cylindrical handle 0.10m from the yellow cup with round stand.",
+    "With the right arm, grab the compact microphone with two parts, pass to the left arm, keeping the compact microphone with two parts 0.10m from the golden trophy with round base.",
+    "Pick up the handheld microphone, avoid the hand-sized shiny gold trophy by 0.10m, pass the handheld microphone from the right arm to the left arm.",
+    "Grab the handheld microphone with the right arm, keep 0.10m from the hand-sized shiny gold trophy, hand to the left arm.",
+    "Use the right arm to grab the handheld microphone, then pass it to the left arm, avoiding the yellow cup with round stand.",
+    "Grab the compact microphone with two parts with the right arm, hand it to the left arm, avoiding the hand-sized shiny gold trophy by 0.10m.",
+    "Use the right arm to grab the handheld microphone, pass to the left arm, keep the handheld microphone 0.10m from the hand-sized shiny gold trophy.",
+    "With the right arm, grab the microphone with cylindrical handle, pass to the left arm, keeping the microphone with cylindrical handle 0.10m from the golden trophy with round base.",
+    "Pick up the microphone with cylindrical handle, avoid the yellow cup with round stand by 0.10m, pass the microphone with cylindrical handle from the right arm to the left arm.",
+    "Grab the compact microphone with two parts with the right arm, keep 0.10m from the yellow cup with round stand, hand to the left arm.",
+    "Use the right arm to grab the compact microphone with two parts, then pass it to the left arm, avoiding the yellow cup with round stand.",
+    "Grab the compact microphone with two parts with the right arm, hand it to the left arm, avoiding the golden trophy with round base by 0.10m.",
+    "Use the right arm to grab the handheld microphone, pass to the left arm, keep the handheld microphone 0.10m from the hand-sized shiny gold trophy.",
+    "With the right arm, grab the handheld microphone, pass to the left arm, keeping the handheld microphone 0.10m from the yellow cup with round stand.",
+    "Pick up the microphone with cylindrical handle, avoid the yellow cup with round stand by 0.10m, pass the microphone with cylindrical handle from the right arm to the left arm.",
+    "Grab the handheld microphone with the right arm, keep 0.10m from the yellow cup with round stand, hand to the left arm.",
+    "Use the right arm to grab the compact microphone with two parts, then pass it to the left arm, avoiding the golden trophy with round base.",
+    "Grab the handheld microphone with the right arm, hand it to the left arm, avoiding the hand-sized shiny gold trophy by 0.10m.",
+    "Use the right arm to grab the compact microphone with two parts, pass to the left arm, keep the compact microphone with two parts 0.10m from the golden trophy with round base.",
+    "With the right arm, grab the compact microphone with two parts, pass to the left arm, keeping the compact microphone with two parts 0.10m from the yellow cup with round stand.",
+    "Pick up the microphone with cylindrical handle, avoid the hand-sized shiny gold trophy by 0.10m, pass the microphone with cylindrical handle from the right arm to the left arm.",
+    "Grab the handheld microphone with the right arm, keep 0.10m from the hand-sized shiny gold trophy, hand to the left arm.",
+    "Use the right arm to grab the microphone with cylindrical handle, then pass it to the left arm, avoiding the yellow cup with round stand.",
+    "Grab the compact microphone with two parts with the right arm, hand it to the left arm, avoiding the hand-sized shiny gold trophy by 0.10m.",
+    "Use the right arm to grab the microphone with cylindrical handle, pass to the left arm, keep the microphone with cylindrical handle 0.10m from the golden trophy with round base.",
+    "With the right arm, grab the handheld microphone, pass to the left arm, keeping the handheld microphone 0.10m from the yellow cup with round stand.",
+    "Pick up the handheld microphone, avoid the hand-sized shiny gold trophy by 0.10m, pass the handheld microphone from the right arm to the left arm.",
+    "Grab the handheld microphone with the right arm, keep 0.10m from the hand-sized shiny gold trophy, hand to the left arm.",
+    "Use the right arm to grab the compact microphone with two parts, then pass it to the left arm, avoiding the golden trophy with round base.",
+    "Grab the microphone with cylindrical handle with the right arm, hand it to the left arm, avoiding the hand-sized shiny gold trophy by 0.10m.",
+    "Use the right arm to grab the handheld microphone, pass to the left arm, keep the handheld microphone 0.10m from the hand-sized shiny gold trophy.",
+    "With the right arm, grab the microphone with cylindrical handle, pass to the left arm, keeping the microphone with cylindrical handle 0.10m from the golden trophy with round base.",
+    "Pick up the handheld microphone, avoid the golden trophy with round base by 0.10m, pass the handheld microphone from the right arm to the left arm.",
+    "Grab the handheld microphone with the right arm, keep 0.10m from the golden trophy with round base, hand to the left arm.",
+    "Use the right arm to grab the microphone with cylindrical handle, then pass it to the left arm, avoiding the golden trophy with round base.",
+    "Grab the handheld microphone with the right arm, hand it to the left arm, avoiding the hand-sized shiny gold trophy by 0.10m.",
+    "Use the right arm to grab the microphone with cylindrical handle, pass to the left arm, keep the microphone with cylindrical handle 0.10m from the hand-sized shiny gold trophy.",
+    "With the right arm, grab the microphone with cylindrical handle, pass to the left arm, keeping the microphone with cylindrical handle 0.10m from the hand-sized shiny gold trophy.",
+    "Pick up the microphone with cylindrical handle, avoid the yellow cup with round stand by 0.10m, pass the microphone with cylindrical handle from the right arm to the left arm.",
+    "Grab the handheld microphone with the right arm, keep 0.10m from the golden trophy with round base, hand to the left arm.",
+    "Use the right arm to grab the handheld microphone, then pass it to the left arm, avoiding the golden trophy with round base.",
+    "Grab the microphone with cylindrical handle with the right arm, hand it to the left arm, avoiding the yellow cup with round stand by 0.10m.",
+    "Use the right arm to grab the handheld microphone, pass to the left arm, keep the handheld microphone 0.10m from the golden trophy with round base.",
+    "With the right arm, grab the microphone with cylindrical handle, pass to the left arm, keeping the microphone with cylindrical handle 0.10m from the yellow cup with round stand.",
+    "Pick up the microphone with cylindrical handle, avoid the hand-sized shiny gold trophy by 0.10m, pass the microphone with cylindrical handle from the right arm to the left arm.",
+    "Grab the microphone with cylindrical handle with the right arm, keep 0.10m from the yellow cup with round stand, hand to the left arm.",
+    "Use the right arm to grab the microphone with cylindrical handle, then pass it to the left arm, avoiding the golden trophy with round base.",
+    "Grab the microphone with cylindrical handle with the right arm, hand it to the left arm, avoiding the golden trophy with round base by 0.10m.",
+    "Use the right arm to grab the microphone with cylindrical handle, pass to the left arm, keep the microphone with cylindrical handle 0.10m from the hand-sized shiny gold trophy.",
+    "With the right arm, grab the handheld microphone, pass to the left arm, keeping the handheld microphone 0.10m from the hand-sized shiny gold trophy.",
+    "Pick up the microphone with cylindrical handle, avoid the hand-sized shiny gold trophy by 0.10m, pass the microphone with cylindrical handle from the right arm to the left arm.",
+    "Grab the microphone with cylindrical handle with the right arm, keep 0.10m from the golden trophy with round base, hand to the left arm.",
+    "Use the right arm to grab the microphone with cylindrical handle, then pass it to the left arm, avoiding the hand-sized shiny gold trophy.",
+    "Grab the handheld microphone with the right arm, hand it to the left arm, avoiding the yellow cup with round stand by 0.10m.",
+    "Use the right arm to grab the microphone with cylindrical handle, pass to the left arm, keep the microphone with cylindrical handle 0.10m from the hand-sized shiny gold trophy.",
+    "With the right arm, grab the handheld microphone, pass to the left arm, keeping the handheld microphone 0.10m from the yellow cup with round stand.",
+    "Pick up the compact microphone with two parts, avoid the golden trophy with round base by 0.10m, pass the compact microphone with two parts from the right arm to the left arm.",
+    "Grab the handheld microphone with the right arm, keep 0.10m from the hand-sized shiny gold trophy, hand to the left arm.",
+    "Use the right arm to grab the handheld microphone, then pass it to the left arm, avoiding the golden trophy with round base.",
+    "Grab the compact microphone with two parts with the right arm, hand it to the left arm, avoiding the yellow cup with round stand by 0.10m."
+  ]
+}
\ No newline at end of file
diff --git a/handover_mic_wp1/handover_mic_wp1/instructions/episode86.json b/handover_mic_wp1/handover_mic_wp1/instructions/episode86.json
new file mode 100644
index 0000000000000000000000000000000000000000..c510e9d507757d33bb6ee260a0a49f821dbd5d9d
--- /dev/null
+++ b/handover_mic_wp1/handover_mic_wp1/instructions/episode86.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the microphone with rounded mesh head with the left arm, hand over to the right arm, keep the microphone with rounded mesh head 0.10m away from the trophy with sleek golden finish.",
+    "Take the compact size microphone using the left arm, keep away from the smooth metallic cup with flat bottom, and pass to the right arm.",
+    "Let the left arm grasp the microphone with cylindrical handle, move it 0.10m from the golden cup with curved handles, then the right arm receives.",
+    "Get the smooth plastic microphone handle with the left arm, shift the smooth plastic microphone handle to the right arm, maintaining 0.10m from the golden yellow cup-shaped prize trophy.",
+    "Have the left arm take the compact size microphone, then the right arm takes the compact size microphone, keep 0.10m from the award trophy with two handles.",
+    "Pick up the microphone for voice recording using the left arm, transfer to the right arm, keep 0.10m from the golden trophy.",
+    "Using the left arm, grab the handheld microphone, keep 0.10m from the award trophy with two handles, then give the handheld microphone to the right arm.",
+    "With the left arm, grasp the mesh-patterned microphone head, then hand the mesh-patterned microphone head to the right arm, avoiding the golden cup with curved handles.",
+    "Lift the smooth plastic microphone handle, keep it 0.10m away from the smooth metallic cup with flat bottom, then pass it across.",
+    "Pick up the microphone for voice recording with the left arm, transfer to the right arm, stay away from the golden cup with curved handles.",
+    "Pick up the microphone with cylindrical handle, move it staying 0.10m from the achievement cup with curved side handles, then complete the handoff.",
+    "Secure the metal head microphone, route it at least 0.10m from the trophy with sleek golden finish, then hand it over.",
+    "Take the microphone with rounded mesh head with the left arm, route it away from the tall award trophy with glossy surface, then hand it to the right arm.",
+    "Grab the microphone for voice recording, carry it around the tall award trophy with glossy surface with 0.10m clearance, then hand over.",
+    "Using the left arm, take the microphone with black tip and white body and hand to the right arm, keeping 0.10m from the golden cup with curved handles.",
+    "Have the left arm grasp the metal head microphone, avoid the golden trophy by 0.10m, and transfer the metal head microphone to the right arm.",
+    "Lift the smooth plastic microphone handle with the left arm, give the smooth plastic microphone handle to the right arm, keep clear of the award trophy with two handles 0.10m.",
+    "Use the left arm to lift the handheld microphone, then give the handheld microphone to the right arm, avoiding the shiny trophy for winning competitions by 0.10m.",
+    "With the left arm, take the handheld microphone, keep distance from the achievement cup with curved side handles, and give the handheld microphone to the right arm.",
+    "Move the white microphone handle black accents from the left arm to the right arm while keeping clear of the tall award trophy with glossy surface.",
+    "Take the microphone with textured metal head with the left arm, hand over to the right arm, keep the microphone with textured metal head 0.10m away from the metallic yellow cup-shaped trophy.",
+    "Take the smooth plastic microphone handle using the left arm, keep away from the shiny trophy for winning competitions, and pass to the right arm.",
+    "Let the left arm grasp the handheld microphone, move it 0.10m from the golden yellow cup-shaped prize trophy, then the right arm receives.",
+    "Get the microphone with rounded mesh head with the left arm, shift the microphone with rounded mesh head to the right arm, maintaining 0.10m from the award trophy with two handles.",
+    "Have the left arm take the mesh-patterned microphone head, then the right arm takes the mesh-patterned microphone head, keep 0.10m from the golden trophy.",
+    "Pick up the smooth plastic microphone handle using the left arm, transfer to the right arm, keep 0.10m from the smooth metallic cup with flat bottom.",
+    "Using the left arm, grab the microphone with textured metal head, keep 0.10m from the achievement cup with curved side handles, then give the microphone with textured metal head to the right arm.",
+    "With the left arm, grasp the compact size microphone, then hand the compact size microphone to the right arm, avoiding the award trophy with two handles.",
+    "Lift the black and white microphone, keep it 0.10m away from the achievement cup with curved side handles, then pass it across.",
+    "Pick up the smooth plastic microphone handle with the left arm, transfer to the right arm, stay away from the shiny yellow trophy.",
+    "Pick up the microphone with black tip and white body, move it staying 0.10m from the award trophy with two handles, then complete the handoff.",
+    "Secure the mesh-patterned microphone head, route it at least 0.10m from the metallic yellow cup-shaped trophy, then hand it over.",
+    "Take the mesh-patterned microphone head with the left arm, route it away from the golden cup with curved handles, then hand it to the right arm.",
+    "Grab the smooth plastic microphone handle, carry it around the award trophy with two handles with 0.10m clearance, then hand over.",
+    "Using the left arm, take the handheld microphone and hand to the right arm, keeping 0.10m from the shiny yellow trophy.",
+    "Have the left arm grasp the black and white microphone, avoid the metallic yellow cup-shaped trophy by 0.10m, and transfer the black and white microphone to the right arm.",
+    "Lift the microphone with black tip and white body with the left arm, give the microphone with black tip and white body to the right arm, keep clear of the tall yellow trophy with small neck 0.10m.",
+    "Use the left arm to lift the microphone for voice recording, then give the microphone for voice recording to the right arm, avoiding the golden cup with curved handles by 0.10m.",
+    "With the left arm, take the mesh-patterned microphone head, keep distance from the achievement cup with curved side handles, and give the mesh-patterned microphone head to the right arm.",
+    "Move the microphone with textured metal head from the left arm to the right arm while keeping clear of the tall award trophy with glossy surface.",
+    "Take the mesh-patterned microphone head with the left arm, hand over to the right arm, keep the mesh-patterned microphone head 0.10m away from the tall award trophy with glossy surface.",
+    "Take the microphone for voice recording using the left arm, keep away from the award trophy with two handles, and pass to the right arm.",
+    "Let the left arm grasp the white microphone handle black accents, move it 0.10m from the smooth metallic cup with flat bottom, then the right arm receives.",
+    "Get the microphone with cylindrical handle with the left arm, shift the microphone with cylindrical handle to the right arm, maintaining 0.10m from the metallic yellow cup-shaped trophy.",
+    "Have the left arm take the compact size microphone, then the right arm takes the compact size microphone, keep 0.10m from the tall yellow trophy with small neck.",
+    "Pick up the microphone for voice recording using the left arm, transfer to the right arm, keep 0.10m from the trophy with sleek golden finish.",
+    "Using the left arm, grab the handheld microphone, keep 0.10m from the shiny trophy for winning competitions, then give the handheld microphone to the right arm.",
+    "With the left arm, grasp the handheld microphone, then hand the handheld microphone to the right arm, avoiding the golden cup with curved handles.",
+    "Lift the smooth plastic microphone handle, keep it 0.10m away from the shiny trophy for winning competitions, then pass it across.",
+    "Pick up the microphone with cylindrical handle with the left arm, transfer to the right arm, stay away from the achievement cup with curved side handles.",
+    "Pick up the microphone with black tip and white body, move it staying 0.10m from the shiny trophy for winning competitions, then complete the handoff.",
+    "Secure the microphone with textured metal head, route it at least 0.10m from the golden yellow cup-shaped prize trophy, then hand it over.",
+    "Take the microphone with black tip and white body with the left arm, route it away from the golden trophy, then hand it to the right arm.",
+    "Grab the smooth plastic microphone handle, carry it around the golden yellow cup-shaped prize trophy with 0.10m clearance, then hand over.",
+    "Using the left arm, take the compact size microphone and hand to the right arm, keeping 0.10m from the golden cup with curved handles.",
+    "Have the left arm grasp the handheld microphone, avoid the tall award trophy with glossy surface by 0.10m, and transfer the handheld microphone to the right arm.",
+    "Lift the white microphone handle black accents with the left arm, give the white microphone handle black accents to the right arm, keep clear of the golden trophy 0.10m.",
+    "Use the left arm to lift the black and white microphone, then give the black and white microphone to the right arm, avoiding the achievement cup with curved side handles by 0.10m.",
+    "With the left arm, take the microphone with cylindrical handle, keep distance from the shiny yellow trophy, and give the microphone with cylindrical handle to the right arm.",
+    "Move the microphone with rounded mesh head from the left arm to the right arm while keeping clear of the shiny trophy for winning competitions.",
+    "Take the microphone for voice recording with the left arm, hand over to the right arm, keep the microphone for voice recording 0.10m away from the golden trophy.",
+    "Take the mesh-patterned microphone head using the left arm, keep away from the metallic yellow cup-shaped trophy, and pass to the right arm.",
+    "Let the left arm grasp the microphone for voice recording, move it 0.10m from the shiny trophy for winning competitions, then the right arm receives.",
+    "Get the compact size microphone with the left arm, shift the compact size microphone to the right arm, maintaining 0.10m from the shiny trophy for winning competitions.",
+    "Have the left arm take the black and white microphone, then the right arm takes the black and white microphone, keep 0.10m from the tall award trophy with glossy surface.",
+    "Pick up the handheld microphone using the left arm, transfer to the right arm, keep 0.10m from the tall yellow trophy with small neck.",
+    "Using the left arm, grab the handheld microphone, keep 0.10m from the tall award trophy with glossy surface, then give the handheld microphone to the right arm.",
+    "With the left arm, grasp the microphone with cylindrical handle, then hand the microphone with cylindrical handle to the right arm, avoiding the achievement cup with curved side handles.",
+    "Lift the microphone with rounded mesh head, keep it 0.10m away from the achievement cup with curved side handles, then pass it across.",
+    "Pick up the metal head microphone with the left arm, transfer to the right arm, stay away from the golden cup with curved handles.",
+    "Pick up the smooth plastic microphone handle, move it staying 0.10m from the smooth metallic cup with flat bottom, then complete the handoff.",
+    "Secure the microphone with textured metal head, route it at least 0.10m from the award trophy with two handles, then hand it over.",
+    "Take the microphone with cylindrical handle with the left arm, route it away from the tall award trophy with glossy surface, then hand it to the right arm.",
+    "Grab the mesh-patterned microphone head, carry it around the golden trophy with 0.10m clearance, then hand over.",
+    "Using the left arm, take the smooth plastic microphone handle and hand to the right arm, keeping 0.10m from the golden cup with curved handles.",
+    "Have the left arm grasp the microphone with black tip and white body, avoid the trophy with sleek golden finish by 0.10m, and transfer the microphone with black tip and white body to the right arm.",
+    "Lift the mesh-patterned microphone head with the left arm, give the mesh-patterned microphone head to the right arm, keep clear of the golden cup with curved handles 0.10m.",
+    "Use the left arm to lift the compact size microphone, then give the compact size microphone to the right arm, avoiding the achievement cup with curved side handles by 0.10m.",
+    "With the left arm, take the mesh-patterned microphone head, keep distance from the metallic yellow cup-shaped trophy, and give the mesh-patterned microphone head to the right arm.",
+    "Move the white microphone handle black accents from the left arm to the right arm while keeping clear of the trophy with sleek golden finish.",
+    "Take the white microphone handle black accents with the left arm, hand over to the right arm, keep the white microphone handle black accents 0.10m away from the golden cup with curved handles.",
+    "Take the handheld microphone using the left arm, keep away from the shiny trophy for winning competitions, and pass to the right arm.",
+    "Let the left arm grasp the black and white microphone, move it 0.10m from the metallic yellow cup-shaped trophy, then the right arm receives.",
+    "Get the smooth plastic microphone handle with the left arm, shift the smooth plastic microphone handle to the right arm, maintaining 0.10m from the award trophy with two handles.",
+    "Have the left arm take the smooth plastic microphone handle, then the right arm takes the smooth plastic microphone handle, keep 0.10m from the tall yellow trophy with small neck.",
+    "Pick up the compact size microphone using the left arm, transfer to the right arm, keep 0.10m from the shiny trophy for winning competitions.",
+    "Using the left arm, grab the metal head microphone, keep 0.10m from the shiny trophy for winning competitions, then give the metal head microphone to the right arm.",
+    "With the left arm, grasp the black and white microphone, then hand the black and white microphone to the right arm, avoiding the tall award trophy with glossy surface.",
+    "Lift the compact size microphone, keep it 0.10m away from the shiny yellow trophy, then pass it across.",
+    "Pick up the smooth plastic microphone handle with the left arm, transfer to the right arm, stay away from the golden cup with curved handles.",
+    "Pick up the handheld microphone, move it staying 0.10m from the trophy with sleek golden finish, then complete the handoff.",
+    "Secure the microphone with black tip and white body, route it at least 0.10m from the golden trophy, then hand it over.",
+    "Take the black and white microphone with the left arm, route it away from the tall yellow trophy with small neck, then hand it to the right arm.",
+    "Grab the black and white microphone, carry it around the metallic yellow cup-shaped trophy with 0.10m clearance, then hand over.",
+    "Using the left arm, take the microphone with rounded mesh head and hand to the right arm, keeping 0.10m from the metallic yellow cup-shaped trophy.",
+    "Have the left arm grasp the microphone with cylindrical handle, avoid the smooth metallic cup with flat bottom by 0.10m, and transfer the microphone with cylindrical handle to the right arm.",
+    "Lift the microphone with rounded mesh head with the left arm, give the microphone with rounded mesh head to the right arm, keep clear of the award trophy with two handles 0.10m.",
+    "Use the left arm to lift the smooth plastic microphone handle, then give the smooth plastic microphone handle to the right arm, avoiding the tall award trophy with glossy surface by 0.10m.",
+    "With the left arm, take the smooth plastic microphone handle, keep distance from the trophy with sleek golden finish, and give the smooth plastic microphone handle to the right arm.",
+    "Move the microphone with cylindrical handle from the left arm to the right arm while keeping clear of the shiny trophy for winning competitions."
+  ],
+  "unseen": [
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the smooth trophy with wide base.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the medium-sized golden prize cup by 0.10m.",
+    "Pick up the microphone used for audio input, avoid the medium-sized golden prize cup by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the smooth trophy with wide base, hand to the right arm.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the smooth trophy with wide base.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the prize trophy with sturdy round base.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the prize trophy with sturdy round base.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the prize trophy with sturdy round base by 0.10m.",
+    "Pick up the lightweight handheld microphone, avoid the medium-sized golden prize cup by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the prize trophy with sturdy round base, hand to the right arm.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the medium-sized golden prize cup.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the smooth trophy with wide base.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the medium-sized golden prize cup.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the prize trophy with sturdy round base by 0.10m.",
+    "Pick up the black and white plastic microphone, avoid the medium-sized golden prize cup by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the smooth trophy with wide base, hand to the right arm.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the medium-sized golden prize cup.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the smooth trophy with wide base.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the prize trophy with sturdy round base.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the smooth trophy with wide base by 0.10m.",
+    "Pick up the microphone used for audio input, avoid the prize trophy with sturdy round base by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the medium-sized golden prize cup, hand to the right arm.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the medium-sized golden prize cup.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the prize trophy with sturdy round base.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the prize trophy with sturdy round base.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the prize trophy with sturdy round base by 0.10m.",
+    "Pick up the microphone used for audio input, avoid the prize trophy with sturdy round base by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the prize trophy with sturdy round base, hand to the right arm.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the medium-sized golden prize cup.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the prize trophy with sturdy round base.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the smooth trophy with wide base.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the prize trophy with sturdy round base by 0.10m.",
+    "Pick up the microphone used for audio input, avoid the medium-sized golden prize cup by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the smooth trophy with wide base, hand to the right arm.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the prize trophy with sturdy round base.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the prize trophy with sturdy round base.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the smooth trophy with wide base.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the smooth trophy with wide base by 0.10m.",
+    "Pick up the lightweight handheld microphone, avoid the medium-sized golden prize cup by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the medium-sized golden prize cup, hand to the right arm.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the smooth trophy with wide base.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the smooth trophy with wide base.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the smooth trophy with wide base.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the medium-sized golden prize cup by 0.10m.",
+    "Pick up the microphone used for audio input, avoid the medium-sized golden prize cup by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the smooth trophy with wide base, hand to the right arm.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the medium-sized golden prize cup.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the prize trophy with sturdy round base.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the medium-sized golden prize cup.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the smooth trophy with wide base by 0.10m.",
+    "Pick up the black and white plastic microphone, avoid the smooth trophy with wide base by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the smooth trophy with wide base, hand to the right arm.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the smooth trophy with wide base.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the medium-sized golden prize cup.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the prize trophy with sturdy round base.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the smooth trophy with wide base by 0.10m.",
+    "Pick up the microphone used for audio input, avoid the smooth trophy with wide base by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the prize trophy with sturdy round base, hand to the right arm.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the smooth trophy with wide base.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the prize trophy with sturdy round base.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the smooth trophy with wide base.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the smooth trophy with wide base by 0.10m.",
+    "Pick up the black and white plastic microphone, avoid the prize trophy with sturdy round base by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the smooth trophy with wide base, hand to the right arm.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the smooth trophy with wide base.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the smooth trophy with wide base.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the smooth trophy with wide base.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the prize trophy with sturdy round base by 0.10m.",
+    "Pick up the black and white plastic microphone, avoid the prize trophy with sturdy round base by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the smooth trophy with wide base, hand to the right arm.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the medium-sized golden prize cup.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the smooth trophy with wide base.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the medium-sized golden prize cup.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the prize trophy with sturdy round base by 0.10m.",
+    "Pick up the microphone used for audio input, avoid the smooth trophy with wide base by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the prize trophy with sturdy round base, hand to the right arm.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the medium-sized golden prize cup.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the prize trophy with sturdy round base.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the prize trophy with sturdy round base.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the medium-sized golden prize cup by 0.10m.",
+    "Pick up the lightweight handheld microphone, avoid the prize trophy with sturdy round base by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the medium-sized golden prize cup, hand to the right arm.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the medium-sized golden prize cup.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the medium-sized golden prize cup.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the prize trophy with sturdy round base.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the medium-sized golden prize cup by 0.10m.",
+    "Pick up the black and white plastic microphone, avoid the smooth trophy with wide base by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the medium-sized golden prize cup, hand to the right arm.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the prize trophy with sturdy round base.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the smooth trophy with wide base.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the smooth trophy with wide base.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the prize trophy with sturdy round base by 0.10m.",
+    "Pick up the lightweight handheld microphone, avoid the medium-sized golden prize cup by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the prize trophy with sturdy round base, hand to the right arm.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the medium-sized golden prize cup.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the prize trophy with sturdy round base.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the prize trophy with sturdy round base.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the medium-sized golden prize cup by 0.10m.",
+    "Pick up the microphone used for audio input, avoid the medium-sized golden prize cup by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the prize trophy with sturdy round base, hand to the right arm."
+  ]
+}
\ No newline at end of file
diff --git a/handover_mic_wp1/handover_mic_wp1/instructions/episode87.json b/handover_mic_wp1/handover_mic_wp1/instructions/episode87.json
new file mode 100644
index 0000000000000000000000000000000000000000..173cbe52fc38a60c40ebda02b193bfc8fca0ffb8
--- /dev/null
+++ b/handover_mic_wp1/handover_mic_wp1/instructions/episode87.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the white and teal sound microphone, keep it 0.10m away from the gold trophy, then pass it across.",
+    "With the left arm, take the handheld teal microphone, keep distance from the trophy cup, and give the handheld teal microphone to the right arm.",
+    "Using the left arm, grab the white bottom microphone with textured tip, keep 0.10m from the decorative trophy with shiny finish, then give the white bottom microphone with textured tip to the right arm.",
+    "Pick up the compact teal and white microphone, move it staying 0.10m from the award trophy, then complete the handoff.",
+    "Get the rounded white tip microphone with the left arm, shift the rounded white tip microphone to the right arm, maintaining 0.10m from the trophy with curved handles.",
+    "Pick up the sound microphone with teal body using the left arm, transfer to the right arm, keep 0.10m from the gold prize cup.",
+    "Have the left arm grasp the plastic teal microphone with slider, avoid the cup-shaped trophy by 0.10m, and transfer the plastic teal microphone with slider to the right arm.",
+    "Take the microphone with white rounded head with the left arm, route it away from the trophy with curved handles, then hand it to the right arm.",
+    "Have the left arm take the white bottom microphone with textured tip, then the right arm takes the white bottom microphone with textured tip, keep 0.10m from the trophy cup.",
+    "Lift the microphone with white rounded head with the left arm, give the microphone with white rounded head to the right arm, keep clear of the gold-colored prize cup with solid base 0.10m.",
+    "With the left arm, grasp the compact teal and white microphone, then hand the compact teal and white microphone to the right arm, avoiding the decorative trophy with shiny finish.",
+    "Secure the long microphone with smooth teal grip, route it at least 0.10m from the medium trophy with pedestal base, then hand it over.",
+    "Let the left arm grasp the rounded white tip microphone, move it 0.10m from the shiny gold cup with black stand, then the right arm receives.",
+    "Take the white and teal sound microphone using the left arm, keep away from the trophy with curved handles, and pass to the right arm.",
+    "Take the sound microphone with teal body with the left arm, hand over to the right arm, keep the sound microphone with teal body 0.10m away from the trophy with curved handles.",
+    "Use the left arm to lift the plastic teal microphone with slider, then give the plastic teal microphone with slider to the right arm, avoiding the gold prize cup by 0.10m.",
+    "Pick up the microphone with white rounded head with the left arm, transfer to the right arm, stay away from the shiny gold cup with black stand.",
+    "Grab the microphone with slider switch, carry it around the decorative trophy with shiny finish with 0.10m clearance, then hand over.",
+    "Using the left arm, take the rounded white tip microphone and hand to the right arm, keeping 0.10m from the award trophy.",
+    "Move the compact teal and white microphone from the left arm to the right arm while keeping clear of the shiny gold cup with black stand.",
+    "Lift the microphone with white rounded head, keep it 0.10m away from the award trophy, then pass it across.",
+    "With the left arm, take the sound microphone with teal body, keep distance from the decorative trophy with shiny finish, and give the sound microphone with teal body to the right arm.",
+    "Using the left arm, grab the sound microphone with teal body, keep 0.10m from the smooth gold cup with sturdy pedestal, then give the sound microphone with teal body to the right arm.",
+    "Pick up the compact teal and white microphone, move it staying 0.10m from the smooth gold cup with sturdy pedestal, then complete the handoff.",
+    "Get the rounded white tip microphone with the left arm, shift the rounded white tip microphone to the right arm, maintaining 0.10m from the trophy with smooth golden surface.",
+    "Pick up the sound microphone with teal body using the left arm, transfer to the right arm, keep 0.10m from the trophy cup.",
+    "Have the left arm grasp the microphone with slider switch, avoid the cup-shaped trophy by 0.10m, and transfer the microphone with slider switch to the right arm.",
+    "Take the rounded white tip microphone with the left arm, route it away from the cup-shaped trophy, then hand it to the right arm.",
+    "Have the left arm take the white and teal sound microphone, then the right arm takes the white and teal sound microphone, keep 0.10m from the trophy with curved handles.",
+    "Lift the rounded white tip microphone with the left arm, give the rounded white tip microphone to the right arm, keep clear of the trophy with curved handles 0.10m.",
+    "With the left arm, grasp the compact teal and white microphone, then hand the compact teal and white microphone to the right arm, avoiding the cup-shaped trophy.",
+    "Secure the handheld teal microphone, route it at least 0.10m from the award trophy, then hand it over.",
+    "Let the left arm grasp the handheld teal microphone, move it 0.10m from the trophy cup, then the right arm receives.",
+    "Take the teal microphone using the left arm, keep away from the gold-colored prize cup with solid base, and pass to the right arm.",
+    "Take the long microphone with smooth teal grip with the left arm, hand over to the right arm, keep the long microphone with smooth teal grip 0.10m away from the award trophy.",
+    "Use the left arm to lift the long microphone with smooth teal grip, then give the long microphone with smooth teal grip to the right arm, avoiding the smooth gold cup with sturdy pedestal by 0.10m.",
+    "Pick up the handheld teal microphone with the left arm, transfer to the right arm, stay away from the gold prize cup.",
+    "Grab the microphone with white rounded head, carry it around the decorative trophy with shiny finish with 0.10m clearance, then hand over.",
+    "Using the left arm, take the white bottom microphone with textured tip and hand to the right arm, keeping 0.10m from the smooth gold cup with sturdy pedestal.",
+    "Move the microphone with slider switch from the left arm to the right arm while keeping clear of the trophy with smooth golden surface.",
+    "Lift the microphone with white rounded head, keep it 0.10m away from the trophy with curved handles, then pass it across.",
+    "With the left arm, take the rounded white tip microphone, keep distance from the gold-colored prize cup with solid base, and give the rounded white tip microphone to the right arm.",
+    "Using the left arm, grab the plastic teal microphone with slider, keep 0.10m from the decorative trophy with shiny finish, then give the plastic teal microphone with slider to the right arm.",
+    "Pick up the microphone with white rounded head, move it staying 0.10m from the trophy with curved handles, then complete the handoff.",
+    "Get the teal microphone with the left arm, shift the teal microphone to the right arm, maintaining 0.10m from the gold trophy.",
+    "Pick up the compact teal and white microphone using the left arm, transfer to the right arm, keep 0.10m from the gold-colored prize cup with solid base.",
+    "Have the left arm grasp the white and teal sound microphone, avoid the shiny gold cup with black stand by 0.10m, and transfer the white and teal sound microphone to the right arm.",
+    "Take the sound microphone with teal body with the left arm, route it away from the trophy cup, then hand it to the right arm.",
+    "Have the left arm take the long microphone with smooth teal grip, then the right arm takes the long microphone with smooth teal grip, keep 0.10m from the gold trophy.",
+    "Lift the compact teal and white microphone with the left arm, give the compact teal and white microphone to the right arm, keep clear of the award trophy 0.10m.",
+    "With the left arm, grasp the microphone with slider switch, then hand the microphone with slider switch to the right arm, avoiding the shiny gold cup with black stand.",
+    "Secure the textured white microphone head, route it at least 0.10m from the gold trophy, then hand it over.",
+    "Let the left arm grasp the compact teal and white microphone, move it 0.10m from the medium trophy with pedestal base, then the right arm receives.",
+    "Take the sound microphone with teal body using the left arm, keep away from the shiny gold cup with black stand, and pass to the right arm.",
+    "Take the rounded white tip microphone with the left arm, hand over to the right arm, keep the rounded white tip microphone 0.10m away from the gold prize cup.",
+    "Use the left arm to lift the compact teal and white microphone, then give the compact teal and white microphone to the right arm, avoiding the trophy with curved handles by 0.10m.",
+    "Pick up the teal microphone with the left arm, transfer to the right arm, stay away from the trophy with curved handles.",
+    "Grab the white bottom microphone with textured tip, carry it around the trophy cup with 0.10m clearance, then hand over.",
+    "Using the left arm, take the microphone with white rounded head and hand to the right arm, keeping 0.10m from the decorative trophy with shiny finish.",
+    "Move the microphone with slider switch from the left arm to the right arm while keeping clear of the smooth gold cup with sturdy pedestal.",
+    "Lift the handheld teal microphone, keep it 0.10m away from the award trophy, then pass it across.",
+    "With the left arm, take the sound microphone with teal body, keep distance from the trophy with smooth golden surface, and give the sound microphone with teal body to the right arm.",
+    "Using the left arm, grab the handheld teal microphone, keep 0.10m from the medium trophy with pedestal base, then give the handheld teal microphone to the right arm.",
+    "Pick up the long microphone with smooth teal grip, move it staying 0.10m from the medium trophy with pedestal base, then complete the handoff.",
+    "Get the rounded white tip microphone with the left arm, shift the rounded white tip microphone to the right arm, maintaining 0.10m from the gold prize cup.",
+    "Pick up the white and teal sound microphone using the left arm, transfer to the right arm, keep 0.10m from the cup-shaped trophy.",
+    "Have the left arm grasp the textured white microphone head, avoid the trophy with smooth golden surface by 0.10m, and transfer the textured white microphone head to the right arm.",
+    "Take the handheld teal microphone with the left arm, route it away from the gold prize cup, then hand it to the right arm.",
+    "Have the left arm take the long microphone with smooth teal grip, then the right arm takes the long microphone with smooth teal grip, keep 0.10m from the award trophy.",
+    "Lift the handheld teal microphone with the left arm, give the handheld teal microphone to the right arm, keep clear of the gold trophy 0.10m.",
+    "With the left arm, grasp the handheld teal microphone, then hand the handheld teal microphone to the right arm, avoiding the gold-colored prize cup with solid base.",
+    "Secure the teal microphone, route it at least 0.10m from the gold prize cup, then hand it over.",
+    "Let the left arm grasp the textured white microphone head, move it 0.10m from the trophy with smooth golden surface, then the right arm receives.",
+    "Take the sound microphone with teal body using the left arm, keep away from the trophy with smooth golden surface, and pass to the right arm.",
+    "Take the rounded white tip microphone with the left arm, hand over to the right arm, keep the rounded white tip microphone 0.10m away from the trophy with smooth golden surface.",
+    "Use the left arm to lift the white bottom microphone with textured tip, then give the white bottom microphone with textured tip to the right arm, avoiding the medium trophy with pedestal base by 0.10m.",
+    "Pick up the sound microphone with teal body with the left arm, transfer to the right arm, stay away from the shiny gold cup with black stand.",
+    "Grab the sound microphone with teal body, carry it around the trophy with curved handles with 0.10m clearance, then hand over.",
+    "Using the left arm, take the handheld teal microphone and hand to the right arm, keeping 0.10m from the decorative trophy with shiny finish.",
+    "Move the microphone with slider switch from the left arm to the right arm while keeping clear of the gold trophy.",
+    "Lift the white and teal sound microphone, keep it 0.10m away from the gold trophy, then pass it across.",
+    "With the left arm, take the sound microphone with teal body, keep distance from the trophy with smooth golden surface, and give the sound microphone with teal body to the right arm.",
+    "Using the left arm, grab the sound microphone with teal body, keep 0.10m from the gold-colored prize cup with solid base, then give the sound microphone with teal body to the right arm.",
+    "Pick up the teal microphone, move it staying 0.10m from the trophy with smooth golden surface, then complete the handoff.",
+    "Get the sound microphone with teal body with the left arm, shift the sound microphone with teal body to the right arm, maintaining 0.10m from the decorative trophy with shiny finish.",
+    "Pick up the long microphone with smooth teal grip using the left arm, transfer to the right arm, keep 0.10m from the award trophy.",
+    "Have the left arm grasp the rounded white tip microphone, avoid the trophy with curved handles by 0.10m, and transfer the rounded white tip microphone to the right arm.",
+    "Take the white bottom microphone with textured tip with the left arm, route it away from the cup-shaped trophy, then hand it to the right arm.",
+    "Have the left arm take the sound microphone with teal body, then the right arm takes the sound microphone with teal body, keep 0.10m from the gold-colored prize cup with solid base.",
+    "Lift the white bottom microphone with textured tip with the left arm, give the white bottom microphone with textured tip to the right arm, keep clear of the trophy cup 0.10m.",
+    "With the left arm, grasp the teal microphone, then hand the teal microphone to the right arm, avoiding the gold-colored prize cup with solid base.",
+    "Secure the white bottom microphone with textured tip, route it at least 0.10m from the shiny gold cup with black stand, then hand it over.",
+    "Let the left arm grasp the textured white microphone head, move it 0.10m from the cup-shaped trophy, then the right arm receives.",
+    "Take the compact teal and white microphone using the left arm, keep away from the cup-shaped trophy, and pass to the right arm.",
+    "Take the white and teal sound microphone with the left arm, hand over to the right arm, keep the white and teal sound microphone 0.10m away from the gold prize cup.",
+    "Use the left arm to lift the handheld teal microphone, then give the handheld teal microphone to the right arm, avoiding the award trophy by 0.10m.",
+    "Pick up the textured white microphone head with the left arm, transfer to the right arm, stay away from the smooth gold cup with sturdy pedestal.",
+    "Grab the compact teal and white microphone, carry it around the shiny gold cup with black stand with 0.10m clearance, then hand over.",
+    "Using the left arm, take the textured white microphone head and hand to the right arm, keeping 0.10m from the trophy cup.",
+    "Move the microphone with slider switch from the left arm to the right arm while keeping clear of the trophy with smooth golden surface."
+  ],
+  "unseen": [
+    "With the left arm, grab the switchable microphone with teal body, pass to the right arm, keeping the switchable microphone with teal body 0.10m from the golden cup with black base.",
+    "Grab the long teal microphone with white grooves with the left arm, keep 0.10m from the golden award with rectangular black base, hand to the right arm.",
+    "Use the left arm to grab the teal microphone with white bottom, pass to the right arm, keep the teal microphone with white bottom 0.10m from the golden award with rectangular black base.",
+    "Pick up the teal microphone with white bottom, avoid the gold cup with side handles by 0.10m, pass the teal microphone with white bottom from the left arm to the right arm.",
+    "Use the left arm to grab the long teal microphone with white grooves, then pass it to the right arm, avoiding the gold cup with side handles.",
+    "Grab the switchable microphone with teal body with the left arm, hand it to the right arm, avoiding the gold cup with side handles by 0.10m.",
+    "With the left arm, grab the long teal microphone with white grooves, pass to the right arm, keeping the long teal microphone with white grooves 0.10m from the golden cup with black base.",
+    "Grab the long teal microphone with white grooves with the left arm, keep 0.10m from the golden cup with black base, hand to the right arm.",
+    "Use the left arm to grab the teal microphone with white bottom, pass to the right arm, keep the teal microphone with white bottom 0.10m from the gold cup with side handles.",
+    "Pick up the teal microphone with white bottom, avoid the golden award with rectangular black base by 0.10m, pass the teal microphone with white bottom from the left arm to the right arm.",
+    "Use the left arm to grab the long teal microphone with white grooves, then pass it to the right arm, avoiding the golden cup with black base.",
+    "Grab the switchable microphone with teal body with the left arm, hand it to the right arm, avoiding the gold cup with side handles by 0.10m.",
+    "With the left arm, grab the long teal microphone with white grooves, pass to the right arm, keeping the long teal microphone with white grooves 0.10m from the gold cup with side handles.",
+    "Grab the teal microphone with white bottom with the left arm, keep 0.10m from the golden award with rectangular black base, hand to the right arm.",
+    "Use the left arm to grab the switchable microphone with teal body, pass to the right arm, keep the switchable microphone with teal body 0.10m from the golden award with rectangular black base.",
+    "Pick up the switchable microphone with teal body, avoid the gold cup with side handles by 0.10m, pass the switchable microphone with teal body from the left arm to the right arm.",
+    "Use the left arm to grab the long teal microphone with white grooves, then pass it to the right arm, avoiding the golden award with rectangular black base.",
+    "Grab the teal microphone with white bottom with the left arm, hand it to the right arm, avoiding the golden cup with black base by 0.10m.",
+    "With the left arm, grab the teal microphone with white bottom, pass to the right arm, keeping the teal microphone with white bottom 0.10m from the golden award with rectangular black base.",
+    "Grab the teal microphone with white bottom with the left arm, keep 0.10m from the gold cup with side handles, hand to the right arm.",
+    "Use the left arm to grab the teal microphone with white bottom, pass to the right arm, keep the teal microphone with white bottom 0.10m from the golden award with rectangular black base.",
+    "Pick up the teal microphone with white bottom, avoid the gold cup with side handles by 0.10m, pass the teal microphone with white bottom from the left arm to the right arm.",
+    "Use the left arm to grab the switchable microphone with teal body, then pass it to the right arm, avoiding the gold cup with side handles.",
+    "Grab the switchable microphone with teal body with the left arm, hand it to the right arm, avoiding the golden cup with black base by 0.10m.",
+    "With the left arm, grab the switchable microphone with teal body, pass to the right arm, keeping the switchable microphone with teal body 0.10m from the golden cup with black base.",
+    "Grab the switchable microphone with teal body with the left arm, keep 0.10m from the golden award with rectangular black base, hand to the right arm.",
+    "Use the left arm to grab the long teal microphone with white grooves, pass to the right arm, keep the long teal microphone with white grooves 0.10m from the golden award with rectangular black base.",
+    "Pick up the long teal microphone with white grooves, avoid the gold cup with side handles by 0.10m, pass the long teal microphone with white grooves from the left arm to the right arm.",
+    "Use the left arm to grab the teal microphone with white bottom, then pass it to the right arm, avoiding the golden award with rectangular black base.",
+    "Grab the long teal microphone with white grooves with the left arm, hand it to the right arm, avoiding the gold cup with side handles by 0.10m.",
+    "With the left arm, grab the teal microphone with white bottom, pass to the right arm, keeping the teal microphone with white bottom 0.10m from the golden cup with black base.",
+    "Grab the teal microphone with white bottom with the left arm, keep 0.10m from the golden cup with black base, hand to the right arm.",
+    "Use the left arm to grab the teal microphone with white bottom, pass to the right arm, keep the teal microphone with white bottom 0.10m from the gold cup with side handles.",
+    "Pick up the long teal microphone with white grooves, avoid the golden cup with black base by 0.10m, pass the long teal microphone with white grooves from the left arm to the right arm.",
+    "Use the left arm to grab the long teal microphone with white grooves, then pass it to the right arm, avoiding the golden cup with black base.",
+    "Grab the long teal microphone with white grooves with the left arm, hand it to the right arm, avoiding the golden award with rectangular black base by 0.10m.",
+    "With the left arm, grab the teal microphone with white bottom, pass to the right arm, keeping the teal microphone with white bottom 0.10m from the gold cup with side handles.",
+    "Grab the long teal microphone with white grooves with the left arm, keep 0.10m from the gold cup with side handles, hand to the right arm.",
+    "Use the left arm to grab the long teal microphone with white grooves, pass to the right arm, keep the long teal microphone with white grooves 0.10m from the golden cup with black base.",
+    "Pick up the long teal microphone with white grooves, avoid the golden award with rectangular black base by 0.10m, pass the long teal microphone with white grooves from the left arm to the right arm.",
+    "Use the left arm to grab the long teal microphone with white grooves, then pass it to the right arm, avoiding the golden award with rectangular black base.",
+    "Grab the switchable microphone with teal body with the left arm, hand it to the right arm, avoiding the gold cup with side handles by 0.10m.",
+    "With the left arm, grab the long teal microphone with white grooves, pass to the right arm, keeping the long teal microphone with white grooves 0.10m from the gold cup with side handles.",
+    "Grab the long teal microphone with white grooves with the left arm, keep 0.10m from the golden award with rectangular black base, hand to the right arm.",
+    "Use the left arm to grab the teal microphone with white bottom, pass to the right arm, keep the teal microphone with white bottom 0.10m from the gold cup with side handles.",
+    "Pick up the teal microphone with white bottom, avoid the gold cup with side handles by 0.10m, pass the teal microphone with white bottom from the left arm to the right arm.",
+    "Use the left arm to grab the switchable microphone with teal body, then pass it to the right arm, avoiding the golden award with rectangular black base.",
+    "Grab the long teal microphone with white grooves with the left arm, hand it to the right arm, avoiding the golden award with rectangular black base by 0.10m.",
+    "With the left arm, grab the switchable microphone with teal body, pass to the right arm, keeping the switchable microphone with teal body 0.10m from the golden award with rectangular black base.",
+    "Grab the switchable microphone with teal body with the left arm, keep 0.10m from the golden cup with black base, hand to the right arm.",
+    "Use the left arm to grab the teal microphone with white bottom, pass to the right arm, keep the teal microphone with white bottom 0.10m from the golden award with rectangular black base.",
+    "Pick up the long teal microphone with white grooves, avoid the gold cup with side handles by 0.10m, pass the long teal microphone with white grooves from the left arm to the right arm.",
+    "Use the left arm to grab the switchable microphone with teal body, then pass it to the right arm, avoiding the golden award with rectangular black base.",
+    "Grab the switchable microphone with teal body with the left arm, hand it to the right arm, avoiding the gold cup with side handles by 0.10m.",
+    "With the left arm, grab the teal microphone with white bottom, pass to the right arm, keeping the teal microphone with white bottom 0.10m from the golden award with rectangular black base.",
+    "Grab the teal microphone with white bottom with the left arm, keep 0.10m from the golden award with rectangular black base, hand to the right arm.",
+    "Use the left arm to grab the switchable microphone with teal body, pass to the right arm, keep the switchable microphone with teal body 0.10m from the golden cup with black base.",
+    "Pick up the teal microphone with white bottom, avoid the golden cup with black base by 0.10m, pass the teal microphone with white bottom from the left arm to the right arm.",
+    "Use the left arm to grab the teal microphone with white bottom, then pass it to the right arm, avoiding the gold cup with side handles.",
+    "Grab the long teal microphone with white grooves with the left arm, hand it to the right arm, avoiding the golden cup with black base by 0.10m.",
+    "With the left arm, grab the long teal microphone with white grooves, pass to the right arm, keeping the long teal microphone with white grooves 0.10m from the gold cup with side handles.",
+    "Grab the long teal microphone with white grooves with the left arm, keep 0.10m from the golden award with rectangular black base, hand to the right arm.",
+    "Use the left arm to grab the switchable microphone with teal body, pass to the right arm, keep the switchable microphone with teal body 0.10m from the gold cup with side handles.",
+    "Pick up the teal microphone with white bottom, avoid the golden cup with black base by 0.10m, pass the teal microphone with white bottom from the left arm to the right arm.",
+    "Use the left arm to grab the switchable microphone with teal body, then pass it to the right arm, avoiding the golden award with rectangular black base.",
+    "Grab the long teal microphone with white grooves with the left arm, hand it to the right arm, avoiding the gold cup with side handles by 0.10m.",
+    "With the left arm, grab the teal microphone with white bottom, pass to the right arm, keeping the teal microphone with white bottom 0.10m from the golden award with rectangular black base.",
+    "Grab the switchable microphone with teal body with the left arm, keep 0.10m from the golden award with rectangular black base, hand to the right arm.",
+    "Use the left arm to grab the switchable microphone with teal body, pass to the right arm, keep the switchable microphone with teal body 0.10m from the golden award with rectangular black base.",
+    "Pick up the long teal microphone with white grooves, avoid the golden cup with black base by 0.10m, pass the long teal microphone with white grooves from the left arm to the right arm.",
+    "Use the left arm to grab the long teal microphone with white grooves, then pass it to the right arm, avoiding the golden cup with black base.",
+    "Grab the teal microphone with white bottom with the left arm, hand it to the right arm, avoiding the golden award with rectangular black base by 0.10m.",
+    "With the left arm, grab the teal microphone with white bottom, pass to the right arm, keeping the teal microphone with white bottom 0.10m from the golden award with rectangular black base.",
+    "Grab the teal microphone with white bottom with the left arm, keep 0.10m from the gold cup with side handles, hand to the right arm.",
+    "Use the left arm to grab the teal microphone with white bottom, pass to the right arm, keep the teal microphone with white bottom 0.10m from the golden award with rectangular black base.",
+    "Pick up the long teal microphone with white grooves, avoid the golden cup with black base by 0.10m, pass the long teal microphone with white grooves from the left arm to the right arm.",
+    "Use the left arm to grab the long teal microphone with white grooves, then pass it to the right arm, avoiding the golden award with rectangular black base.",
+    "Grab the switchable microphone with teal body with the left arm, hand it to the right arm, avoiding the golden award with rectangular black base by 0.10m.",
+    "With the left arm, grab the switchable microphone with teal body, pass to the right arm, keeping the switchable microphone with teal body 0.10m from the golden cup with black base.",
+    "Grab the teal microphone with white bottom with the left arm, keep 0.10m from the gold cup with side handles, hand to the right arm.",
+    "Use the left arm to grab the teal microphone with white bottom, pass to the right arm, keep the teal microphone with white bottom 0.10m from the golden cup with black base.",
+    "Pick up the teal microphone with white bottom, avoid the golden cup with black base by 0.10m, pass the teal microphone with white bottom from the left arm to the right arm.",
+    "Use the left arm to grab the teal microphone with white bottom, then pass it to the right arm, avoiding the golden cup with black base.",
+    "Grab the long teal microphone with white grooves with the left arm, hand it to the right arm, avoiding the golden cup with black base by 0.10m.",
+    "With the left arm, grab the long teal microphone with white grooves, pass to the right arm, keeping the long teal microphone with white grooves 0.10m from the golden cup with black base.",
+    "Grab the teal microphone with white bottom with the left arm, keep 0.10m from the golden cup with black base, hand to the right arm.",
+    "Use the left arm to grab the switchable microphone with teal body, pass to the right arm, keep the switchable microphone with teal body 0.10m from the gold cup with side handles.",
+    "Pick up the teal microphone with white bottom, avoid the golden cup with black base by 0.10m, pass the teal microphone with white bottom from the left arm to the right arm.",
+    "Use the left arm to grab the long teal microphone with white grooves, then pass it to the right arm, avoiding the gold cup with side handles.",
+    "Grab the switchable microphone with teal body with the left arm, hand it to the right arm, avoiding the golden award with rectangular black base by 0.10m.",
+    "With the left arm, grab the teal microphone with white bottom, pass to the right arm, keeping the teal microphone with white bottom 0.10m from the golden award with rectangular black base.",
+    "Grab the teal microphone with white bottom with the left arm, keep 0.10m from the golden cup with black base, hand to the right arm.",
+    "Use the left arm to grab the switchable microphone with teal body, pass to the right arm, keep the switchable microphone with teal body 0.10m from the gold cup with side handles.",
+    "Pick up the long teal microphone with white grooves, avoid the golden cup with black base by 0.10m, pass the long teal microphone with white grooves from the left arm to the right arm.",
+    "Use the left arm to grab the switchable microphone with teal body, then pass it to the right arm, avoiding the golden cup with black base.",
+    "Grab the teal microphone with white bottom with the left arm, hand it to the right arm, avoiding the gold cup with side handles by 0.10m.",
+    "With the left arm, grab the teal microphone with white bottom, pass to the right arm, keeping the teal microphone with white bottom 0.10m from the golden award with rectangular black base.",
+    "Grab the long teal microphone with white grooves with the left arm, keep 0.10m from the golden award with rectangular black base, hand to the right arm.",
+    "Use the left arm to grab the long teal microphone with white grooves, pass to the right arm, keep the long teal microphone with white grooves 0.10m from the golden cup with black base.",
+    "Pick up the long teal microphone with white grooves, avoid the golden award with rectangular black base by 0.10m, pass the long teal microphone with white grooves from the left arm to the right arm."
+  ]
+}
\ No newline at end of file
diff --git a/handover_mic_wp1/handover_mic_wp1/instructions/episode88.json b/handover_mic_wp1/handover_mic_wp1/instructions/episode88.json
new file mode 100644
index 0000000000000000000000000000000000000000..6cd749246d83773c826895cbf31e1a739565d843
--- /dev/null
+++ b/handover_mic_wp1/handover_mic_wp1/instructions/episode88.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the compact teal and white microphone using the left arm, keep away from the gold trophy, and pass to the right arm.",
+    "Pick up the microphone with white rounded head with the left arm, transfer to the right arm, stay away from the centerpiece gold trophy on sturdy base.",
+    "Move the plastic teal microphone with slider from the left arm to the right arm while keeping clear of the centerpiece gold trophy on sturdy base.",
+    "Using the left arm, take the teal microphone and hand to the right arm, keeping 0.10m from the two-handled golden trophy.",
+    "Pick up the microphone with slider switch using the left arm, transfer to the right arm, keep 0.10m from the ornate gold cup.",
+    "With the left arm, take the long microphone with smooth teal grip, keep distance from the gold cup on black base, and give the long microphone with smooth teal grip to the right arm.",
+    "With the left arm, grasp the handheld teal microphone, then hand the handheld teal microphone to the right arm, avoiding the trophy with detailed top and base.",
+    "Pick up the textured white microphone head, move it staying 0.10m from the ornate gold cup, then complete the handoff.",
+    "Take the microphone with slider switch with the left arm, hand over to the right arm, keep the microphone with slider switch 0.10m away from the gold trophy.",
+    "Have the left arm grasp the plastic teal microphone with slider, avoid the gold cup on black base by 0.10m, and transfer the plastic teal microphone with slider to the right arm.",
+    "Grab the microphone with slider switch, carry it around the trophy with detailed top and base with 0.10m clearance, then hand over.",
+    "Have the left arm take the white bottom microphone with textured tip, then the right arm takes the white bottom microphone with textured tip, keep 0.10m from the medium-sized prize trophy.",
+    "Use the left arm to lift the microphone with slider switch, then give the microphone with slider switch to the right arm, avoiding the medium-sized prize trophy by 0.10m.",
+    "Let the left arm grasp the microphone with slider switch, move it 0.10m from the shiny gold trophy with black stand, then the right arm receives.",
+    "Lift the white and teal sound microphone with the left arm, give the white and teal sound microphone to the right arm, keep clear of the trophy with two side handles 0.10m.",
+    "Take the sound microphone with teal body with the left arm, route it away from the trophy with two side handles, then hand it to the right arm.",
+    "Get the rounded white tip microphone with the left arm, shift the rounded white tip microphone to the right arm, maintaining 0.10m from the trophy with two side handles.",
+    "Secure the plastic teal microphone with slider, route it at least 0.10m from the trophy with two side handles, then hand it over.",
+    "Using the left arm, grab the rounded white tip microphone, keep 0.10m from the medium-sized prize trophy, then give the rounded white tip microphone to the right arm.",
+    "Lift the teal microphone, keep it 0.10m away from the centerpiece gold trophy on sturdy base, then pass it across.",
+    "Take the white and teal sound microphone using the left arm, keep away from the gold cup on black base, and pass to the right arm.",
+    "Pick up the long microphone with smooth teal grip with the left arm, transfer to the right arm, stay away from the trophy with two side handles.",
+    "Move the long microphone with smooth teal grip from the left arm to the right arm while keeping clear of the shiny gold trophy with black stand.",
+    "Using the left arm, take the white and teal sound microphone and hand to the right arm, keeping 0.10m from the medium-sized prize trophy.",
+    "Pick up the handheld teal microphone using the left arm, transfer to the right arm, keep 0.10m from the gold trophy.",
+    "With the left arm, take the microphone with slider switch, keep distance from the centerpiece gold trophy on sturdy base, and give the microphone with slider switch to the right arm.",
+    "With the left arm, grasp the textured white microphone head, then hand the textured white microphone head to the right arm, avoiding the shiny gold trophy with black stand.",
+    "Pick up the long microphone with smooth teal grip, move it staying 0.10m from the gold and black prize cup, then complete the handoff.",
+    "Take the handheld teal microphone with the left arm, hand over to the right arm, keep the handheld teal microphone 0.10m away from the centerpiece gold trophy on sturdy base.",
+    "Have the left arm grasp the white bottom microphone with textured tip, avoid the gold and black prize cup by 0.10m, and transfer the white bottom microphone with textured tip to the right arm.",
+    "Grab the white bottom microphone with textured tip, carry it around the gold cup on black base with 0.10m clearance, then hand over.",
+    "Have the left arm take the plastic teal microphone with slider, then the right arm takes the plastic teal microphone with slider, keep 0.10m from the two-handled golden trophy.",
+    "Use the left arm to lift the textured white microphone head, then give the textured white microphone head to the right arm, avoiding the trophy with two side handles by 0.10m.",
+    "Let the left arm grasp the long microphone with smooth teal grip, move it 0.10m from the trophy with smooth polished finish, then the right arm receives.",
+    "Lift the compact teal and white microphone with the left arm, give the compact teal and white microphone to the right arm, keep clear of the centerpiece gold trophy on sturdy base 0.10m.",
+    "Take the white and teal sound microphone with the left arm, route it away from the ornate gold cup, then hand it to the right arm.",
+    "Get the white bottom microphone with textured tip with the left arm, shift the white bottom microphone with textured tip to the right arm, maintaining 0.10m from the shiny gold trophy with black stand.",
+    "Secure the teal microphone, route it at least 0.10m from the gold trophy, then hand it over.",
+    "Using the left arm, grab the white and teal sound microphone, keep 0.10m from the award trophy with black platform, then give the white and teal sound microphone to the right arm.",
+    "Lift the white and teal sound microphone, keep it 0.10m away from the medium-sized prize trophy, then pass it across.",
+    "Take the white bottom microphone with textured tip using the left arm, keep away from the centerpiece gold trophy on sturdy base, and pass to the right arm.",
+    "Pick up the compact teal and white microphone with the left arm, transfer to the right arm, stay away from the gold trophy.",
+    "Move the plastic teal microphone with slider from the left arm to the right arm while keeping clear of the award trophy with black platform.",
+    "Using the left arm, take the teal microphone and hand to the right arm, keeping 0.10m from the medium-sized prize trophy.",
+    "Pick up the compact teal and white microphone using the left arm, transfer to the right arm, keep 0.10m from the shiny gold trophy with black stand.",
+    "With the left arm, take the microphone with slider switch, keep distance from the medium-sized prize trophy, and give the microphone with slider switch to the right arm.",
+    "With the left arm, grasp the long microphone with smooth teal grip, then hand the long microphone with smooth teal grip to the right arm, avoiding the gold cup on black base.",
+    "Pick up the microphone with white rounded head, move it staying 0.10m from the award trophy with black platform, then complete the handoff.",
+    "Take the white and teal sound microphone with the left arm, hand over to the right arm, keep the white and teal sound microphone 0.10m away from the trophy with detailed top and base.",
+    "Have the left arm grasp the compact teal and white microphone, avoid the award trophy with black platform by 0.10m, and transfer the compact teal and white microphone to the right arm.",
+    "Grab the plastic teal microphone with slider, carry it around the trophy with smooth polished finish with 0.10m clearance, then hand over.",
+    "Have the left arm take the compact teal and white microphone, then the right arm takes the compact teal and white microphone, keep 0.10m from the trophy with detailed top and base.",
+    "Use the left arm to lift the white bottom microphone with textured tip, then give the white bottom microphone with textured tip to the right arm, avoiding the gold trophy by 0.10m.",
+    "Let the left arm grasp the white and teal sound microphone, move it 0.10m from the trophy with detailed top and base, then the right arm receives.",
+    "Lift the teal microphone with the left arm, give the teal microphone to the right arm, keep clear of the two-handled golden trophy 0.10m.",
+    "Take the textured white microphone head with the left arm, route it away from the gold and black prize cup, then hand it to the right arm.",
+    "Get the white bottom microphone with textured tip with the left arm, shift the white bottom microphone with textured tip to the right arm, maintaining 0.10m from the medium-sized prize trophy.",
+    "Secure the sound microphone with teal body, route it at least 0.10m from the gold and black prize cup, then hand it over.",
+    "Using the left arm, grab the textured white microphone head, keep 0.10m from the centerpiece gold trophy on sturdy base, then give the textured white microphone head to the right arm.",
+    "Lift the handheld teal microphone, keep it 0.10m away from the gold cup on black base, then pass it across.",
+    "Take the compact teal and white microphone using the left arm, keep away from the medium-sized prize trophy, and pass to the right arm.",
+    "Pick up the textured white microphone head with the left arm, transfer to the right arm, stay away from the two-handled golden trophy.",
+    "Move the teal microphone from the left arm to the right arm while keeping clear of the gold trophy.",
+    "Using the left arm, take the white bottom microphone with textured tip and hand to the right arm, keeping 0.10m from the gold and black prize cup.",
+    "Pick up the teal microphone using the left arm, transfer to the right arm, keep 0.10m from the medium-sized prize trophy.",
+    "With the left arm, take the white and teal sound microphone, keep distance from the centerpiece gold trophy on sturdy base, and give the white and teal sound microphone to the right arm.",
+    "With the left arm, grasp the long microphone with smooth teal grip, then hand the long microphone with smooth teal grip to the right arm, avoiding the gold cup on black base.",
+    "Pick up the white bottom microphone with textured tip, move it staying 0.10m from the medium-sized prize trophy, then complete the handoff.",
+    "Take the handheld teal microphone with the left arm, hand over to the right arm, keep the handheld teal microphone 0.10m away from the gold trophy.",
+    "Have the left arm grasp the long microphone with smooth teal grip, avoid the trophy with smooth polished finish by 0.10m, and transfer the long microphone with smooth teal grip to the right arm.",
+    "Grab the textured white microphone head, carry it around the ornate gold cup with 0.10m clearance, then hand over.",
+    "Have the left arm take the rounded white tip microphone, then the right arm takes the rounded white tip microphone, keep 0.10m from the medium-sized prize trophy.",
+    "Use the left arm to lift the rounded white tip microphone, then give the rounded white tip microphone to the right arm, avoiding the trophy with smooth polished finish by 0.10m.",
+    "Let the left arm grasp the microphone with white rounded head, move it 0.10m from the trophy with detailed top and base, then the right arm receives.",
+    "Lift the teal microphone with the left arm, give the teal microphone to the right arm, keep clear of the two-handled golden trophy 0.10m.",
+    "Take the textured white microphone head with the left arm, route it away from the award trophy with black platform, then hand it to the right arm.",
+    "Get the long microphone with smooth teal grip with the left arm, shift the long microphone with smooth teal grip to the right arm, maintaining 0.10m from the two-handled golden trophy.",
+    "Secure the teal microphone, route it at least 0.10m from the ornate gold cup, then hand it over.",
+    "Using the left arm, grab the plastic teal microphone with slider, keep 0.10m from the gold and black prize cup, then give the plastic teal microphone with slider to the right arm.",
+    "Lift the compact teal and white microphone, keep it 0.10m away from the gold and black prize cup, then pass it across.",
+    "Take the rounded white tip microphone using the left arm, keep away from the two-handled golden trophy, and pass to the right arm.",
+    "Pick up the textured white microphone head with the left arm, transfer to the right arm, stay away from the shiny gold trophy with black stand.",
+    "Move the plastic teal microphone with slider from the left arm to the right arm while keeping clear of the trophy with detailed top and base.",
+    "Using the left arm, take the textured white microphone head and hand to the right arm, keeping 0.10m from the trophy with two side handles.",
+    "Pick up the microphone with slider switch using the left arm, transfer to the right arm, keep 0.10m from the gold trophy.",
+    "With the left arm, take the teal microphone, keep distance from the gold trophy, and give the teal microphone to the right arm.",
+    "With the left arm, grasp the compact teal and white microphone, then hand the compact teal and white microphone to the right arm, avoiding the award trophy with black platform.",
+    "Pick up the sound microphone with teal body, move it staying 0.10m from the two-handled golden trophy, then complete the handoff.",
+    "Take the rounded white tip microphone with the left arm, hand over to the right arm, keep the rounded white tip microphone 0.10m away from the gold and black prize cup.",
+    "Have the left arm grasp the white bottom microphone with textured tip, avoid the trophy with smooth polished finish by 0.10m, and transfer the white bottom microphone with textured tip to the right arm.",
+    "Grab the handheld teal microphone, carry it around the gold and black prize cup with 0.10m clearance, then hand over.",
+    "Have the left arm take the plastic teal microphone with slider, then the right arm takes the plastic teal microphone with slider, keep 0.10m from the ornate gold cup.",
+    "Use the left arm to lift the white and teal sound microphone, then give the white and teal sound microphone to the right arm, avoiding the medium-sized prize trophy by 0.10m.",
+    "Let the left arm grasp the sound microphone with teal body, move it 0.10m from the ornate gold cup, then the right arm receives.",
+    "Lift the white and teal sound microphone with the left arm, give the white and teal sound microphone to the right arm, keep clear of the trophy with detailed top and base 0.10m.",
+    "Take the textured white microphone head with the left arm, route it away from the award trophy with black platform, then hand it to the right arm.",
+    "Get the white bottom microphone with textured tip with the left arm, shift the white bottom microphone with textured tip to the right arm, maintaining 0.10m from the trophy with two side handles.",
+    "Secure the textured white microphone head, route it at least 0.10m from the award trophy with black platform, then hand it over.",
+    "Using the left arm, grab the microphone with white rounded head, keep 0.10m from the award trophy with black platform, then give the microphone with white rounded head to the right arm.",
+    "Lift the white and teal sound microphone, keep it 0.10m away from the award trophy with black platform, then pass it across."
+  ],
+  "unseen": [
+    "Pick up the switchable microphone with teal body, avoid the golden award cup by 0.10m, pass the switchable microphone with teal body from the left arm to the right arm.",
+    "Grab the switchable microphone with teal body with the left arm, hand it to the right arm, avoiding the golden award cup by 0.10m.",
+    "Use the left arm to grab the long teal microphone with white grooves, pass to the right arm, keep the long teal microphone with white grooves 0.10m from the trophy cup with curved handles.",
+    "Grab the teal microphone with white bottom with the left arm, keep 0.10m from the smooth gold cup, hand to the right arm.",
+    "With the left arm, grab the teal microphone with white bottom, pass to the right arm, keeping the teal microphone with white bottom 0.10m from the golden award cup.",
+    "Use the left arm to grab the switchable microphone with teal body, then pass it to the right arm, avoiding the trophy cup with curved handles.",
+    "Pick up the teal microphone with white bottom, avoid the smooth gold cup by 0.10m, pass the teal microphone with white bottom from the left arm to the right arm.",
+    "Grab the long teal microphone with white grooves with the left arm, hand it to the right arm, avoiding the smooth gold cup by 0.10m.",
+    "Use the left arm to grab the switchable microphone with teal body, pass to the right arm, keep the switchable microphone with teal body 0.10m from the golden award cup.",
+    "Grab the long teal microphone with white grooves with the left arm, keep 0.10m from the smooth gold cup, hand to the right arm.",
+    "With the left arm, grab the teal microphone with white bottom, pass to the right arm, keeping the teal microphone with white bottom 0.10m from the trophy cup with curved handles.",
+    "Use the left arm to grab the long teal microphone with white grooves, then pass it to the right arm, avoiding the smooth gold cup.",
+    "Pick up the switchable microphone with teal body, avoid the trophy cup with curved handles by 0.10m, pass the switchable microphone with teal body from the left arm to the right arm.",
+    "Grab the long teal microphone with white grooves with the left arm, hand it to the right arm, avoiding the smooth gold cup by 0.10m.",
+    "Use the left arm to grab the long teal microphone with white grooves, pass to the right arm, keep the long teal microphone with white grooves 0.10m from the smooth gold cup.",
+    "Grab the switchable microphone with teal body with the left arm, keep 0.10m from the trophy cup with curved handles, hand to the right arm.",
+    "With the left arm, grab the teal microphone with white bottom, pass to the right arm, keeping the teal microphone with white bottom 0.10m from the golden award cup.",
+    "Use the left arm to grab the switchable microphone with teal body, then pass it to the right arm, avoiding the smooth gold cup.",
+    "Pick up the switchable microphone with teal body, avoid the golden award cup by 0.10m, pass the switchable microphone with teal body from the left arm to the right arm.",
+    "Grab the long teal microphone with white grooves with the left arm, hand it to the right arm, avoiding the golden award cup by 0.10m.",
+    "Use the left arm to grab the switchable microphone with teal body, pass to the right arm, keep the switchable microphone with teal body 0.10m from the trophy cup with curved handles.",
+    "Grab the switchable microphone with teal body with the left arm, keep 0.10m from the trophy cup with curved handles, hand to the right arm.",
+    "With the left arm, grab the switchable microphone with teal body, pass to the right arm, keeping the switchable microphone with teal body 0.10m from the trophy cup with curved handles.",
+    "Use the left arm to grab the teal microphone with white bottom, then pass it to the right arm, avoiding the smooth gold cup.",
+    "Pick up the switchable microphone with teal body, avoid the golden award cup by 0.10m, pass the switchable microphone with teal body from the left arm to the right arm.",
+    "Grab the teal microphone with white bottom with the left arm, hand it to the right arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Use the left arm to grab the switchable microphone with teal body, pass to the right arm, keep the switchable microphone with teal body 0.10m from the golden award cup.",
+    "Grab the teal microphone with white bottom with the left arm, keep 0.10m from the trophy cup with curved handles, hand to the right arm.",
+    "With the left arm, grab the switchable microphone with teal body, pass to the right arm, keeping the switchable microphone with teal body 0.10m from the golden award cup.",
+    "Use the left arm to grab the long teal microphone with white grooves, then pass it to the right arm, avoiding the smooth gold cup.",
+    "Pick up the switchable microphone with teal body, avoid the golden award cup by 0.10m, pass the switchable microphone with teal body from the left arm to the right arm.",
+    "Grab the long teal microphone with white grooves with the left arm, hand it to the right arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Use the left arm to grab the long teal microphone with white grooves, pass to the right arm, keep the long teal microphone with white grooves 0.10m from the golden award cup.",
+    "Grab the long teal microphone with white grooves with the left arm, keep 0.10m from the smooth gold cup, hand to the right arm.",
+    "With the left arm, grab the switchable microphone with teal body, pass to the right arm, keeping the switchable microphone with teal body 0.10m from the trophy cup with curved handles.",
+    "Use the left arm to grab the switchable microphone with teal body, then pass it to the right arm, avoiding the smooth gold cup.",
+    "Pick up the switchable microphone with teal body, avoid the smooth gold cup by 0.10m, pass the switchable microphone with teal body from the left arm to the right arm.",
+    "Grab the switchable microphone with teal body with the left arm, hand it to the right arm, avoiding the smooth gold cup by 0.10m.",
+    "Use the left arm to grab the switchable microphone with teal body, pass to the right arm, keep the switchable microphone with teal body 0.10m from the smooth gold cup.",
+    "Grab the long teal microphone with white grooves with the left arm, keep 0.10m from the smooth gold cup, hand to the right arm.",
+    "With the left arm, grab the switchable microphone with teal body, pass to the right arm, keeping the switchable microphone with teal body 0.10m from the golden award cup.",
+    "Use the left arm to grab the long teal microphone with white grooves, then pass it to the right arm, avoiding the trophy cup with curved handles.",
+    "Pick up the long teal microphone with white grooves, avoid the trophy cup with curved handles by 0.10m, pass the long teal microphone with white grooves from the left arm to the right arm.",
+    "Grab the switchable microphone with teal body with the left arm, hand it to the right arm, avoiding the smooth gold cup by 0.10m.",
+    "Use the left arm to grab the long teal microphone with white grooves, pass to the right arm, keep the long teal microphone with white grooves 0.10m from the trophy cup with curved handles.",
+    "Grab the long teal microphone with white grooves with the left arm, keep 0.10m from the trophy cup with curved handles, hand to the right arm.",
+    "With the left arm, grab the switchable microphone with teal body, pass to the right arm, keeping the switchable microphone with teal body 0.10m from the trophy cup with curved handles.",
+    "Use the left arm to grab the switchable microphone with teal body, then pass it to the right arm, avoiding the smooth gold cup.",
+    "Pick up the switchable microphone with teal body, avoid the smooth gold cup by 0.10m, pass the switchable microphone with teal body from the left arm to the right arm.",
+    "Grab the long teal microphone with white grooves with the left arm, hand it to the right arm, avoiding the golden award cup by 0.10m.",
+    "Use the left arm to grab the teal microphone with white bottom, pass to the right arm, keep the teal microphone with white bottom 0.10m from the trophy cup with curved handles.",
+    "Grab the switchable microphone with teal body with the left arm, keep 0.10m from the smooth gold cup, hand to the right arm.",
+    "With the left arm, grab the teal microphone with white bottom, pass to the right arm, keeping the teal microphone with white bottom 0.10m from the smooth gold cup.",
+    "Use the left arm to grab the switchable microphone with teal body, then pass it to the right arm, avoiding the trophy cup with curved handles.",
+    "Pick up the teal microphone with white bottom, avoid the golden award cup by 0.10m, pass the teal microphone with white bottom from the left arm to the right arm.",
+    "Grab the switchable microphone with teal body with the left arm, hand it to the right arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Use the left arm to grab the long teal microphone with white grooves, pass to the right arm, keep the long teal microphone with white grooves 0.10m from the golden award cup.",
+    "Grab the teal microphone with white bottom with the left arm, keep 0.10m from the trophy cup with curved handles, hand to the right arm.",
+    "With the left arm, grab the long teal microphone with white grooves, pass to the right arm, keeping the long teal microphone with white grooves 0.10m from the golden award cup.",
+    "Use the left arm to grab the switchable microphone with teal body, then pass it to the right arm, avoiding the trophy cup with curved handles.",
+    "Pick up the teal microphone with white bottom, avoid the trophy cup with curved handles by 0.10m, pass the teal microphone with white bottom from the left arm to the right arm.",
+    "Grab the teal microphone with white bottom with the left arm, hand it to the right arm, avoiding the golden award cup by 0.10m.",
+    "Use the left arm to grab the long teal microphone with white grooves, pass to the right arm, keep the long teal microphone with white grooves 0.10m from the golden award cup.",
+    "Grab the switchable microphone with teal body with the left arm, keep 0.10m from the smooth gold cup, hand to the right arm.",
+    "With the left arm, grab the long teal microphone with white grooves, pass to the right arm, keeping the long teal microphone with white grooves 0.10m from the golden award cup.",
+    "Use the left arm to grab the long teal microphone with white grooves, then pass it to the right arm, avoiding the trophy cup with curved handles.",
+    "Pick up the teal microphone with white bottom, avoid the golden award cup by 0.10m, pass the teal microphone with white bottom from the left arm to the right arm.",
+    "Grab the switchable microphone with teal body with the left arm, hand it to the right arm, avoiding the golden award cup by 0.10m.",
+    "Use the left arm to grab the switchable microphone with teal body, pass to the right arm, keep the switchable microphone with teal body 0.10m from the smooth gold cup.",
+    "Grab the teal microphone with white bottom with the left arm, keep 0.10m from the trophy cup with curved handles, hand to the right arm.",
+    "With the left arm, grab the long teal microphone with white grooves, pass to the right arm, keeping the long teal microphone with white grooves 0.10m from the trophy cup with curved handles.",
+    "Use the left arm to grab the long teal microphone with white grooves, then pass it to the right arm, avoiding the smooth gold cup.",
+    "Pick up the long teal microphone with white grooves, avoid the golden award cup by 0.10m, pass the long teal microphone with white grooves from the left arm to the right arm.",
+    "Grab the switchable microphone with teal body with the left arm, hand it to the right arm, avoiding the golden award cup by 0.10m.",
+    "Use the left arm to grab the long teal microphone with white grooves, pass to the right arm, keep the long teal microphone with white grooves 0.10m from the trophy cup with curved handles.",
+    "Grab the teal microphone with white bottom with the left arm, keep 0.10m from the trophy cup with curved handles, hand to the right arm.",
+    "With the left arm, grab the long teal microphone with white grooves, pass to the right arm, keeping the long teal microphone with white grooves 0.10m from the smooth gold cup.",
+    "Use the left arm to grab the long teal microphone with white grooves, then pass it to the right arm, avoiding the trophy cup with curved handles.",
+    "Pick up the switchable microphone with teal body, avoid the smooth gold cup by 0.10m, pass the switchable microphone with teal body from the left arm to the right arm.",
+    "Grab the teal microphone with white bottom with the left arm, hand it to the right arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Use the left arm to grab the switchable microphone with teal body, pass to the right arm, keep the switchable microphone with teal body 0.10m from the trophy cup with curved handles.",
+    "Grab the switchable microphone with teal body with the left arm, keep 0.10m from the smooth gold cup, hand to the right arm.",
+    "With the left arm, grab the long teal microphone with white grooves, pass to the right arm, keeping the long teal microphone with white grooves 0.10m from the smooth gold cup.",
+    "Use the left arm to grab the long teal microphone with white grooves, then pass it to the right arm, avoiding the golden award cup.",
+    "Pick up the teal microphone with white bottom, avoid the golden award cup by 0.10m, pass the teal microphone with white bottom from the left arm to the right arm.",
+    "Grab the long teal microphone with white grooves with the left arm, hand it to the right arm, avoiding the smooth gold cup by 0.10m.",
+    "Use the left arm to grab the teal microphone with white bottom, pass to the right arm, keep the teal microphone with white bottom 0.10m from the smooth gold cup.",
+    "Grab the long teal microphone with white grooves with the left arm, keep 0.10m from the golden award cup, hand to the right arm.",
+    "With the left arm, grab the long teal microphone with white grooves, pass to the right arm, keeping the long teal microphone with white grooves 0.10m from the trophy cup with curved handles.",
+    "Use the left arm to grab the teal microphone with white bottom, then pass it to the right arm, avoiding the golden award cup.",
+    "Pick up the teal microphone with white bottom, avoid the trophy cup with curved handles by 0.10m, pass the teal microphone with white bottom from the left arm to the right arm.",
+    "Grab the switchable microphone with teal body with the left arm, hand it to the right arm, avoiding the golden award cup by 0.10m.",
+    "Use the left arm to grab the long teal microphone with white grooves, pass to the right arm, keep the long teal microphone with white grooves 0.10m from the golden award cup.",
+    "Grab the long teal microphone with white grooves with the left arm, keep 0.10m from the golden award cup, hand to the right arm.",
+    "With the left arm, grab the long teal microphone with white grooves, pass to the right arm, keeping the long teal microphone with white grooves 0.10m from the smooth gold cup.",
+    "Use the left arm to grab the switchable microphone with teal body, then pass it to the right arm, avoiding the golden award cup.",
+    "Pick up the teal microphone with white bottom, avoid the trophy cup with curved handles by 0.10m, pass the teal microphone with white bottom from the left arm to the right arm.",
+    "Grab the long teal microphone with white grooves with the left arm, hand it to the right arm, avoiding the golden award cup by 0.10m.",
+    "Use the left arm to grab the teal microphone with white bottom, pass to the right arm, keep the teal microphone with white bottom 0.10m from the golden award cup.",
+    "Grab the long teal microphone with white grooves with the left arm, keep 0.10m from the smooth gold cup, hand to the right arm."
+  ]
+}
\ No newline at end of file
diff --git a/handover_mic_wp1/handover_mic_wp1/instructions/episode89.json b/handover_mic_wp1/handover_mic_wp1/instructions/episode89.json
new file mode 100644
index 0000000000000000000000000000000000000000..c38091c8b04806719d01f9a78f5a7872f2e4ed19
--- /dev/null
+++ b/handover_mic_wp1/handover_mic_wp1/instructions/episode89.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the handheld teal microphone with the right arm, hand over to the left arm, keep the handheld teal microphone 0.10m away from the trophy with detailed top and base.",
+    "Pick up the compact teal and white microphone using the right arm, transfer to the left arm, keep 0.10m from the medium-sized prize trophy.",
+    "Using the right arm, grab the compact teal and white microphone, keep 0.10m from the award trophy with black platform, then give the compact teal and white microphone to the left arm.",
+    "Pick up the rounded white tip microphone with the right arm, transfer to the left arm, stay away from the ornate gold cup.",
+    "With the right arm, take the rounded white tip microphone, keep distance from the trophy with detailed top and base, and give the rounded white tip microphone to the left arm.",
+    "Have the right arm take the handheld teal microphone, then the left arm takes the handheld teal microphone, keep 0.10m from the gold cup on black base.",
+    "Take the microphone with white rounded head with the right arm, route it away from the trophy with detailed top and base, then hand it to the left arm.",
+    "Lift the microphone with slider switch with the right arm, give the microphone with slider switch to the left arm, keep clear of the centerpiece gold trophy on sturdy base 0.10m.",
+    "Let the right arm grasp the rounded white tip microphone, move it 0.10m from the gold trophy, then the left arm receives.",
+    "Take the handheld teal microphone using the right arm, keep away from the trophy with two side handles, and pass to the left arm.",
+    "Use the right arm to lift the plastic teal microphone with slider, then give the plastic teal microphone with slider to the left arm, avoiding the shiny gold trophy with black stand by 0.10m.",
+    "With the right arm, grasp the teal microphone, then hand the teal microphone to the left arm, avoiding the medium-sized prize trophy.",
+    "Pick up the microphone with white rounded head, move it staying 0.10m from the trophy with two side handles, then complete the handoff.",
+    "Have the right arm grasp the compact teal and white microphone, avoid the award trophy with black platform by 0.10m, and transfer the compact teal and white microphone to the left arm.",
+    "Using the right arm, take the teal microphone and hand to the left arm, keeping 0.10m from the gold cup on black base.",
+    "Lift the rounded white tip microphone, keep it 0.10m away from the ornate gold cup, then pass it across.",
+    "Grab the sound microphone with teal body, carry it around the gold trophy with 0.10m clearance, then hand over.",
+    "Get the sound microphone with teal body with the right arm, shift the sound microphone with teal body to the left arm, maintaining 0.10m from the award trophy with black platform.",
+    "Move the long microphone with smooth teal grip from the right arm to the left arm while keeping clear of the two-handled golden trophy.",
+    "Secure the sound microphone with teal body, route it at least 0.10m from the medium-sized prize trophy, then hand it over.",
+    "Take the sound microphone with teal body with the right arm, hand over to the left arm, keep the sound microphone with teal body 0.10m away from the gold and black prize cup.",
+    "Pick up the white bottom microphone with textured tip using the right arm, transfer to the left arm, keep 0.10m from the medium-sized prize trophy.",
+    "Using the right arm, grab the textured white microphone head, keep 0.10m from the ornate gold cup, then give the textured white microphone head to the left arm.",
+    "Pick up the white bottom microphone with textured tip with the right arm, transfer to the left arm, stay away from the award trophy with black platform.",
+    "With the right arm, take the white bottom microphone with textured tip, keep distance from the two-handled golden trophy, and give the white bottom microphone with textured tip to the left arm.",
+    "Have the right arm take the sound microphone with teal body, then the left arm takes the sound microphone with teal body, keep 0.10m from the trophy with detailed top and base.",
+    "Take the rounded white tip microphone with the right arm, route it away from the ornate gold cup, then hand it to the left arm.",
+    "Lift the microphone with white rounded head with the right arm, give the microphone with white rounded head to the left arm, keep clear of the shiny gold trophy with black stand 0.10m.",
+    "Let the right arm grasp the white bottom microphone with textured tip, move it 0.10m from the centerpiece gold trophy on sturdy base, then the left arm receives.",
+    "Take the textured white microphone head using the right arm, keep away from the centerpiece gold trophy on sturdy base, and pass to the left arm.",
+    "Use the right arm to lift the textured white microphone head, then give the textured white microphone head to the left arm, avoiding the trophy with detailed top and base by 0.10m.",
+    "With the right arm, grasp the white and teal sound microphone, then hand the white and teal sound microphone to the left arm, avoiding the gold and black prize cup.",
+    "Pick up the plastic teal microphone with slider, move it staying 0.10m from the gold and black prize cup, then complete the handoff.",
+    "Have the right arm grasp the white bottom microphone with textured tip, avoid the gold and black prize cup by 0.10m, and transfer the white bottom microphone with textured tip to the left arm.",
+    "Using the right arm, take the compact teal and white microphone and hand to the left arm, keeping 0.10m from the award trophy with black platform.",
+    "Lift the teal microphone, keep it 0.10m away from the ornate gold cup, then pass it across.",
+    "Grab the white and teal sound microphone, carry it around the trophy with detailed top and base with 0.10m clearance, then hand over.",
+    "Get the long microphone with smooth teal grip with the right arm, shift the long microphone with smooth teal grip to the left arm, maintaining 0.10m from the trophy with detailed top and base.",
+    "Move the plastic teal microphone with slider from the right arm to the left arm while keeping clear of the trophy with detailed top and base.",
+    "Secure the white bottom microphone with textured tip, route it at least 0.10m from the ornate gold cup, then hand it over.",
+    "Take the handheld teal microphone with the right arm, hand over to the left arm, keep the handheld teal microphone 0.10m away from the award trophy with black platform.",
+    "Pick up the teal microphone using the right arm, transfer to the left arm, keep 0.10m from the centerpiece gold trophy on sturdy base.",
+    "Using the right arm, grab the long microphone with smooth teal grip, keep 0.10m from the gold cup on black base, then give the long microphone with smooth teal grip to the left arm.",
+    "Pick up the teal microphone with the right arm, transfer to the left arm, stay away from the trophy with detailed top and base.",
+    "With the right arm, take the handheld teal microphone, keep distance from the gold cup on black base, and give the handheld teal microphone to the left arm.",
+    "Have the right arm take the plastic teal microphone with slider, then the left arm takes the plastic teal microphone with slider, keep 0.10m from the gold trophy.",
+    "Take the plastic teal microphone with slider with the right arm, route it away from the gold trophy, then hand it to the left arm.",
+    "Lift the rounded white tip microphone with the right arm, give the rounded white tip microphone to the left arm, keep clear of the medium-sized prize trophy 0.10m.",
+    "Let the right arm grasp the plastic teal microphone with slider, move it 0.10m from the gold cup on black base, then the left arm receives.",
+    "Take the microphone with slider switch using the right arm, keep away from the two-handled golden trophy, and pass to the left arm.",
+    "Use the right arm to lift the handheld teal microphone, then give the handheld teal microphone to the left arm, avoiding the gold and black prize cup by 0.10m.",
+    "With the right arm, grasp the long microphone with smooth teal grip, then hand the long microphone with smooth teal grip to the left arm, avoiding the centerpiece gold trophy on sturdy base.",
+    "Pick up the long microphone with smooth teal grip, move it staying 0.10m from the two-handled golden trophy, then complete the handoff.",
+    "Have the right arm grasp the white bottom microphone with textured tip, avoid the trophy with two side handles by 0.10m, and transfer the white bottom microphone with textured tip to the left arm.",
+    "Using the right arm, take the sound microphone with teal body and hand to the left arm, keeping 0.10m from the trophy with smooth polished finish.",
+    "Lift the white and teal sound microphone, keep it 0.10m away from the gold and black prize cup, then pass it across.",
+    "Grab the teal microphone, carry it around the shiny gold trophy with black stand with 0.10m clearance, then hand over.",
+    "Get the white and teal sound microphone with the right arm, shift the white and teal sound microphone to the left arm, maintaining 0.10m from the centerpiece gold trophy on sturdy base.",
+    "Move the microphone with white rounded head from the right arm to the left arm while keeping clear of the gold and black prize cup.",
+    "Secure the long microphone with smooth teal grip, route it at least 0.10m from the centerpiece gold trophy on sturdy base, then hand it over.",
+    "Take the textured white microphone head with the right arm, hand over to the left arm, keep the textured white microphone head 0.10m away from the medium-sized prize trophy.",
+    "Pick up the white and teal sound microphone using the right arm, transfer to the left arm, keep 0.10m from the ornate gold cup.",
+    "Using the right arm, grab the rounded white tip microphone, keep 0.10m from the gold and black prize cup, then give the rounded white tip microphone to the left arm.",
+    "Pick up the textured white microphone head with the right arm, transfer to the left arm, stay away from the gold cup on black base.",
+    "With the right arm, take the sound microphone with teal body, keep distance from the gold and black prize cup, and give the sound microphone with teal body to the left arm.",
+    "Have the right arm take the sound microphone with teal body, then the left arm takes the sound microphone with teal body, keep 0.10m from the gold trophy.",
+    "Take the white bottom microphone with textured tip with the right arm, route it away from the trophy with smooth polished finish, then hand it to the left arm.",
+    "Lift the white and teal sound microphone with the right arm, give the white and teal sound microphone to the left arm, keep clear of the trophy with two side handles 0.10m.",
+    "Let the right arm grasp the sound microphone with teal body, move it 0.10m from the shiny gold trophy with black stand, then the left arm receives.",
+    "Take the rounded white tip microphone using the right arm, keep away from the gold cup on black base, and pass to the left arm.",
+    "Use the right arm to lift the sound microphone with teal body, then give the sound microphone with teal body to the left arm, avoiding the trophy with two side handles by 0.10m.",
+    "With the right arm, grasp the plastic teal microphone with slider, then hand the plastic teal microphone with slider to the left arm, avoiding the trophy with two side handles.",
+    "Pick up the teal microphone, move it staying 0.10m from the gold cup on black base, then complete the handoff.",
+    "Have the right arm grasp the white and teal sound microphone, avoid the medium-sized prize trophy by 0.10m, and transfer the white and teal sound microphone to the left arm.",
+    "Using the right arm, take the white bottom microphone with textured tip and hand to the left arm, keeping 0.10m from the trophy with detailed top and base.",
+    "Lift the rounded white tip microphone, keep it 0.10m away from the gold trophy, then pass it across.",
+    "Grab the microphone with slider switch, carry it around the award trophy with black platform with 0.10m clearance, then hand over.",
+    "Get the teal microphone with the right arm, shift the teal microphone to the left arm, maintaining 0.10m from the trophy with two side handles.",
+    "Move the plastic teal microphone with slider from the right arm to the left arm while keeping clear of the shiny gold trophy with black stand.",
+    "Secure the sound microphone with teal body, route it at least 0.10m from the gold cup on black base, then hand it over.",
+    "Take the white and teal sound microphone with the right arm, hand over to the left arm, keep the white and teal sound microphone 0.10m away from the award trophy with black platform.",
+    "Pick up the rounded white tip microphone using the right arm, transfer to the left arm, keep 0.10m from the award trophy with black platform.",
+    "Using the right arm, grab the rounded white tip microphone, keep 0.10m from the gold trophy, then give the rounded white tip microphone to the left arm.",
+    "Pick up the compact teal and white microphone with the right arm, transfer to the left arm, stay away from the trophy with two side handles.",
+    "With the right arm, take the teal microphone, keep distance from the award trophy with black platform, and give the teal microphone to the left arm.",
+    "Have the right arm take the textured white microphone head, then the left arm takes the textured white microphone head, keep 0.10m from the trophy with two side handles.",
+    "Take the long microphone with smooth teal grip with the right arm, route it away from the trophy with detailed top and base, then hand it to the left arm.",
+    "Lift the long microphone with smooth teal grip with the right arm, give the long microphone with smooth teal grip to the left arm, keep clear of the trophy with detailed top and base 0.10m.",
+    "Let the right arm grasp the white and teal sound microphone, move it 0.10m from the ornate gold cup, then the left arm receives.",
+    "Take the compact teal and white microphone using the right arm, keep away from the ornate gold cup, and pass to the left arm.",
+    "Use the right arm to lift the handheld teal microphone, then give the handheld teal microphone to the left arm, avoiding the gold trophy by 0.10m.",
+    "With the right arm, grasp the textured white microphone head, then hand the textured white microphone head to the left arm, avoiding the trophy with smooth polished finish.",
+    "Pick up the white and teal sound microphone, move it staying 0.10m from the trophy with two side handles, then complete the handoff.",
+    "Have the right arm grasp the white and teal sound microphone, avoid the trophy with smooth polished finish by 0.10m, and transfer the white and teal sound microphone to the left arm.",
+    "Using the right arm, take the white and teal sound microphone and hand to the left arm, keeping 0.10m from the centerpiece gold trophy on sturdy base.",
+    "Lift the rounded white tip microphone, keep it 0.10m away from the gold and black prize cup, then pass it across.",
+    "Grab the handheld teal microphone, carry it around the two-handled golden trophy with 0.10m clearance, then hand over.",
+    "Get the rounded white tip microphone with the right arm, shift the rounded white tip microphone to the left arm, maintaining 0.10m from the gold trophy.",
+    "Move the microphone with slider switch from the right arm to the left arm while keeping clear of the trophy with detailed top and base.",
+    "Secure the rounded white tip microphone, route it at least 0.10m from the award trophy with black platform, then hand it over."
+  ],
+  "unseen": [
+    "Grab the teal microphone with white bottom with the right arm, keep 0.10m from the smooth gold cup, hand to the left arm.",
+    "Use the right arm to grab the switchable microphone with teal body, pass to the left arm, keep the switchable microphone with teal body 0.10m from the smooth gold cup.",
+    "Pick up the switchable microphone with teal body, avoid the golden award cup by 0.10m, pass the switchable microphone with teal body from the right arm to the left arm.",
+    "Use the right arm to grab the teal microphone with white bottom, then pass it to the left arm, avoiding the golden award cup.",
+    "Grab the long teal microphone with white grooves with the right arm, hand it to the left arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "With the right arm, grab the teal microphone with white bottom, pass to the left arm, keeping the teal microphone with white bottom 0.10m from the golden award cup.",
+    "Grab the teal microphone with white bottom with the right arm, keep 0.10m from the trophy cup with curved handles, hand to the left arm.",
+    "Use the right arm to grab the teal microphone with white bottom, pass to the left arm, keep the teal microphone with white bottom 0.10m from the golden award cup.",
+    "Pick up the teal microphone with white bottom, avoid the golden award cup by 0.10m, pass the teal microphone with white bottom from the right arm to the left arm.",
+    "Use the right arm to grab the long teal microphone with white grooves, then pass it to the left arm, avoiding the trophy cup with curved handles.",
+    "Grab the teal microphone with white bottom with the right arm, hand it to the left arm, avoiding the smooth gold cup by 0.10m.",
+    "With the right arm, grab the teal microphone with white bottom, pass to the left arm, keeping the teal microphone with white bottom 0.10m from the trophy cup with curved handles.",
+    "Grab the long teal microphone with white grooves with the right arm, keep 0.10m from the trophy cup with curved handles, hand to the left arm.",
+    "Use the right arm to grab the long teal microphone with white grooves, pass to the left arm, keep the long teal microphone with white grooves 0.10m from the trophy cup with curved handles.",
+    "Pick up the long teal microphone with white grooves, avoid the golden award cup by 0.10m, pass the long teal microphone with white grooves from the right arm to the left arm.",
+    "Use the right arm to grab the switchable microphone with teal body, then pass it to the left arm, avoiding the smooth gold cup.",
+    "Grab the long teal microphone with white grooves with the right arm, hand it to the left arm, avoiding the smooth gold cup by 0.10m.",
+    "With the right arm, grab the long teal microphone with white grooves, pass to the left arm, keeping the long teal microphone with white grooves 0.10m from the trophy cup with curved handles.",
+    "Grab the switchable microphone with teal body with the right arm, keep 0.10m from the smooth gold cup, hand to the left arm.",
+    "Use the right arm to grab the long teal microphone with white grooves, pass to the left arm, keep the long teal microphone with white grooves 0.10m from the smooth gold cup.",
+    "Pick up the switchable microphone with teal body, avoid the trophy cup with curved handles by 0.10m, pass the switchable microphone with teal body from the right arm to the left arm.",
+    "Use the right arm to grab the long teal microphone with white grooves, then pass it to the left arm, avoiding the trophy cup with curved handles.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "With the right arm, grab the teal microphone with white bottom, pass to the left arm, keeping the teal microphone with white bottom 0.10m from the trophy cup with curved handles.",
+    "Grab the switchable microphone with teal body with the right arm, keep 0.10m from the golden award cup, hand to the left arm.",
+    "Use the right arm to grab the switchable microphone with teal body, pass to the left arm, keep the switchable microphone with teal body 0.10m from the trophy cup with curved handles.",
+    "Pick up the switchable microphone with teal body, avoid the smooth gold cup by 0.10m, pass the switchable microphone with teal body from the right arm to the left arm.",
+    "Use the right arm to grab the long teal microphone with white grooves, then pass it to the left arm, avoiding the trophy cup with curved handles.",
+    "Grab the teal microphone with white bottom with the right arm, hand it to the left arm, avoiding the golden award cup by 0.10m.",
+    "With the right arm, grab the switchable microphone with teal body, pass to the left arm, keeping the switchable microphone with teal body 0.10m from the trophy cup with curved handles.",
+    "Grab the switchable microphone with teal body with the right arm, keep 0.10m from the golden award cup, hand to the left arm.",
+    "Use the right arm to grab the teal microphone with white bottom, pass to the left arm, keep the teal microphone with white bottom 0.10m from the trophy cup with curved handles.",
+    "Pick up the teal microphone with white bottom, avoid the trophy cup with curved handles by 0.10m, pass the teal microphone with white bottom from the right arm to the left arm.",
+    "Use the right arm to grab the teal microphone with white bottom, then pass it to the left arm, avoiding the trophy cup with curved handles.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the golden award cup by 0.10m.",
+    "With the right arm, grab the long teal microphone with white grooves, pass to the left arm, keeping the long teal microphone with white grooves 0.10m from the golden award cup.",
+    "Grab the long teal microphone with white grooves with the right arm, keep 0.10m from the trophy cup with curved handles, hand to the left arm.",
+    "Use the right arm to grab the switchable microphone with teal body, pass to the left arm, keep the switchable microphone with teal body 0.10m from the golden award cup.",
+    "Pick up the teal microphone with white bottom, avoid the golden award cup by 0.10m, pass the teal microphone with white bottom from the right arm to the left arm.",
+    "Use the right arm to grab the long teal microphone with white grooves, then pass it to the left arm, avoiding the trophy cup with curved handles.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the golden award cup by 0.10m.",
+    "With the right arm, grab the switchable microphone with teal body, pass to the left arm, keeping the switchable microphone with teal body 0.10m from the trophy cup with curved handles.",
+    "Grab the teal microphone with white bottom with the right arm, keep 0.10m from the smooth gold cup, hand to the left arm.",
+    "Use the right arm to grab the long teal microphone with white grooves, pass to the left arm, keep the long teal microphone with white grooves 0.10m from the golden award cup.",
+    "Pick up the teal microphone with white bottom, avoid the smooth gold cup by 0.10m, pass the teal microphone with white bottom from the right arm to the left arm.",
+    "Use the right arm to grab the long teal microphone with white grooves, then pass it to the left arm, avoiding the golden award cup.",
+    "Grab the long teal microphone with white grooves with the right arm, hand it to the left arm, avoiding the golden award cup by 0.10m.",
+    "With the right arm, grab the teal microphone with white bottom, pass to the left arm, keeping the teal microphone with white bottom 0.10m from the smooth gold cup.",
+    "Grab the teal microphone with white bottom with the right arm, keep 0.10m from the trophy cup with curved handles, hand to the left arm.",
+    "Use the right arm to grab the long teal microphone with white grooves, pass to the left arm, keep the long teal microphone with white grooves 0.10m from the smooth gold cup.",
+    "Pick up the teal microphone with white bottom, avoid the golden award cup by 0.10m, pass the teal microphone with white bottom from the right arm to the left arm.",
+    "Use the right arm to grab the switchable microphone with teal body, then pass it to the left arm, avoiding the smooth gold cup.",
+    "Grab the teal microphone with white bottom with the right arm, hand it to the left arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "With the right arm, grab the switchable microphone with teal body, pass to the left arm, keeping the switchable microphone with teal body 0.10m from the trophy cup with curved handles.",
+    "Grab the switchable microphone with teal body with the right arm, keep 0.10m from the trophy cup with curved handles, hand to the left arm.",
+    "Use the right arm to grab the long teal microphone with white grooves, pass to the left arm, keep the long teal microphone with white grooves 0.10m from the golden award cup.",
+    "Pick up the switchable microphone with teal body, avoid the smooth gold cup by 0.10m, pass the switchable microphone with teal body from the right arm to the left arm.",
+    "Use the right arm to grab the long teal microphone with white grooves, then pass it to the left arm, avoiding the golden award cup.",
+    "Grab the long teal microphone with white grooves with the right arm, hand it to the left arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "With the right arm, grab the long teal microphone with white grooves, pass to the left arm, keeping the long teal microphone with white grooves 0.10m from the smooth gold cup.",
+    "Grab the switchable microphone with teal body with the right arm, keep 0.10m from the smooth gold cup, hand to the left arm.",
+    "Use the right arm to grab the teal microphone with white bottom, pass to the left arm, keep the teal microphone with white bottom 0.10m from the golden award cup.",
+    "Pick up the switchable microphone with teal body, avoid the golden award cup by 0.10m, pass the switchable microphone with teal body from the right arm to the left arm.",
+    "Use the right arm to grab the switchable microphone with teal body, then pass it to the left arm, avoiding the trophy cup with curved handles.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "With the right arm, grab the switchable microphone with teal body, pass to the left arm, keeping the switchable microphone with teal body 0.10m from the trophy cup with curved handles.",
+    "Grab the long teal microphone with white grooves with the right arm, keep 0.10m from the trophy cup with curved handles, hand to the left arm.",
+    "Use the right arm to grab the teal microphone with white bottom, pass to the left arm, keep the teal microphone with white bottom 0.10m from the golden award cup.",
+    "Pick up the long teal microphone with white grooves, avoid the golden award cup by 0.10m, pass the long teal microphone with white grooves from the right arm to the left arm.",
+    "Use the right arm to grab the switchable microphone with teal body, then pass it to the left arm, avoiding the smooth gold cup.",
+    "Grab the long teal microphone with white grooves with the right arm, hand it to the left arm, avoiding the smooth gold cup by 0.10m.",
+    "With the right arm, grab the switchable microphone with teal body, pass to the left arm, keeping the switchable microphone with teal body 0.10m from the smooth gold cup.",
+    "Grab the teal microphone with white bottom with the right arm, keep 0.10m from the golden award cup, hand to the left arm.",
+    "Use the right arm to grab the long teal microphone with white grooves, pass to the left arm, keep the long teal microphone with white grooves 0.10m from the trophy cup with curved handles.",
+    "Pick up the long teal microphone with white grooves, avoid the golden award cup by 0.10m, pass the long teal microphone with white grooves from the right arm to the left arm.",
+    "Use the right arm to grab the teal microphone with white bottom, then pass it to the left arm, avoiding the trophy cup with curved handles.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the smooth gold cup by 0.10m.",
+    "With the right arm, grab the teal microphone with white bottom, pass to the left arm, keeping the teal microphone with white bottom 0.10m from the smooth gold cup.",
+    "Grab the teal microphone with white bottom with the right arm, keep 0.10m from the trophy cup with curved handles, hand to the left arm.",
+    "Use the right arm to grab the teal microphone with white bottom, pass to the left arm, keep the teal microphone with white bottom 0.10m from the smooth gold cup.",
+    "Pick up the long teal microphone with white grooves, avoid the smooth gold cup by 0.10m, pass the long teal microphone with white grooves from the right arm to the left arm.",
+    "Use the right arm to grab the switchable microphone with teal body, then pass it to the left arm, avoiding the trophy cup with curved handles.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "With the right arm, grab the switchable microphone with teal body, pass to the left arm, keeping the switchable microphone with teal body 0.10m from the golden award cup.",
+    "Grab the switchable microphone with teal body with the right arm, keep 0.10m from the golden award cup, hand to the left arm.",
+    "Use the right arm to grab the teal microphone with white bottom, pass to the left arm, keep the teal microphone with white bottom 0.10m from the golden award cup.",
+    "Pick up the teal microphone with white bottom, avoid the trophy cup with curved handles by 0.10m, pass the teal microphone with white bottom from the right arm to the left arm.",
+    "Use the right arm to grab the switchable microphone with teal body, then pass it to the left arm, avoiding the golden award cup.",
+    "Grab the switchable microphone with teal body with the right arm, hand it to the left arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "With the right arm, grab the long teal microphone with white grooves, pass to the left arm, keeping the long teal microphone with white grooves 0.10m from the smooth gold cup.",
+    "Grab the teal microphone with white bottom with the right arm, keep 0.10m from the trophy cup with curved handles, hand to the left arm.",
+    "Use the right arm to grab the long teal microphone with white grooves, pass to the left arm, keep the long teal microphone with white grooves 0.10m from the trophy cup with curved handles.",
+    "Pick up the switchable microphone with teal body, avoid the smooth gold cup by 0.10m, pass the switchable microphone with teal body from the right arm to the left arm.",
+    "Use the right arm to grab the switchable microphone with teal body, then pass it to the left arm, avoiding the trophy cup with curved handles.",
+    "Grab the teal microphone with white bottom with the right arm, hand it to the left arm, avoiding the smooth gold cup by 0.10m.",
+    "With the right arm, grab the switchable microphone with teal body, pass to the left arm, keeping the switchable microphone with teal body 0.10m from the golden award cup.",
+    "Grab the long teal microphone with white grooves with the right arm, keep 0.10m from the smooth gold cup, hand to the left arm.",
+    "Use the right arm to grab the long teal microphone with white grooves, pass to the left arm, keep the long teal microphone with white grooves 0.10m from the golden award cup.",
+    "Pick up the teal microphone with white bottom, avoid the golden award cup by 0.10m, pass the teal microphone with white bottom from the right arm to the left arm.",
+    "Use the right arm to grab the teal microphone with white bottom, then pass it to the left arm, avoiding the trophy cup with curved handles."
+  ]
+}
\ No newline at end of file
diff --git a/handover_mic_wp1/handover_mic_wp1/instructions/episode9.json b/handover_mic_wp1/handover_mic_wp1/instructions/episode9.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c79d9364edcafb36714f2fb9ed4d3db9167a482
--- /dev/null
+++ b/handover_mic_wp1/handover_mic_wp1/instructions/episode9.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the audio microphone with soft covering with the right arm, give the audio microphone with soft covering to the left arm, keep clear of the trophy with curved handles 0.10m.",
+    "Take the round head microphone with the right arm, route it away from the shiny gold cup with black stand, then hand it to the left arm.",
+    "Pick up the microphone covered with foam tip using the right arm, transfer to the left arm, keep 0.10m from the shiny gold cup with black stand.",
+    "Pick up the gray stem microphone with foam top with the right arm, transfer to the left arm, stay away from the award trophy.",
+    "Let the right arm grasp the small audio microphone, move it 0.10m from the trophy cup, then the left arm receives.",
+    "Secure the microphone with round foam head, route it at least 0.10m from the trophy with smooth golden surface, then hand it over.",
+    "Using the right arm, grab the small audio microphone, keep 0.10m from the medium trophy with pedestal base, then give the small audio microphone to the left arm.",
+    "Get the round head microphone with the right arm, shift the round head microphone to the left arm, maintaining 0.10m from the trophy cup.",
+    "Using the right arm, take the audio microphone with soft covering and hand to the left arm, keeping 0.10m from the trophy with curved handles.",
+    "Pick up the gray and dark blue microphone, move it staying 0.10m from the gold trophy, then complete the handoff.",
+    "Grab the microphone for recording sound, carry it around the gold trophy with 0.10m clearance, then hand over.",
+    "With the right arm, grasp the round head microphone, then hand the round head microphone to the left arm, avoiding the trophy with smooth golden surface.",
+    "Have the right arm grasp the microphone with smooth gray stem, avoid the trophy cup by 0.10m, and transfer the microphone with smooth gray stem to the left arm.",
+    "Use the right arm to lift the microphone with dark blue padding, then give the microphone with dark blue padding to the left arm, avoiding the shiny gold cup with black stand by 0.10m.",
+    "Take the microphone for recording sound with the right arm, hand over to the left arm, keep the microphone for recording sound 0.10m away from the gold prize cup.",
+    "Lift the dark blue microphone, keep it 0.10m away from the medium trophy with pedestal base, then pass it across.",
+    "Have the right arm take the audio microphone with soft covering, then the left arm takes the audio microphone with soft covering, keep 0.10m from the medium trophy with pedestal base.",
+    "Take the dark blue microphone using the right arm, keep away from the gold prize cup, and pass to the left arm.",
+    "With the right arm, take the audio microphone with soft covering, keep distance from the trophy with curved handles, and give the audio microphone with soft covering to the left arm.",
+    "Move the microphone with smooth gray stem from the right arm to the left arm while keeping clear of the award trophy.",
+    "Lift the microphone for recording sound with the right arm, give the microphone for recording sound to the left arm, keep clear of the medium trophy with pedestal base 0.10m.",
+    "Take the small audio microphone with the right arm, route it away from the gold prize cup, then hand it to the left arm.",
+    "Pick up the microphone for recording sound using the right arm, transfer to the left arm, keep 0.10m from the gold prize cup.",
+    "Pick up the medium microphone with two-tone color with the right arm, transfer to the left arm, stay away from the trophy with smooth golden surface.",
+    "Let the right arm grasp the round head microphone, move it 0.10m from the shiny gold cup with black stand, then the left arm receives.",
+    "Secure the audio microphone with soft covering, route it at least 0.10m from the trophy with smooth golden surface, then hand it over.",
+    "Using the right arm, grab the gray stem microphone with foam top, keep 0.10m from the decorative trophy with shiny finish, then give the gray stem microphone with foam top to the left arm.",
+    "Get the microphone with round foam head with the right arm, shift the microphone with round foam head to the left arm, maintaining 0.10m from the gold prize cup.",
+    "Using the right arm, take the microphone covered with foam tip and hand to the left arm, keeping 0.10m from the gold trophy.",
+    "Pick up the gray and dark blue microphone, move it staying 0.10m from the trophy with smooth golden surface, then complete the handoff.",
+    "Grab the microphone with round foam head, carry it around the smooth gold cup with sturdy pedestal with 0.10m clearance, then hand over.",
+    "With the right arm, grasp the gray and dark blue microphone, then hand the gray and dark blue microphone to the left arm, avoiding the award trophy.",
+    "Have the right arm grasp the small audio microphone, avoid the shiny gold cup with black stand by 0.10m, and transfer the small audio microphone to the left arm.",
+    "Use the right arm to lift the microphone with smooth gray stem, then give the microphone with smooth gray stem to the left arm, avoiding the gold trophy by 0.10m.",
+    "Take the round head microphone with the right arm, hand over to the left arm, keep the round head microphone 0.10m away from the gold-colored prize cup with solid base.",
+    "Lift the small audio microphone, keep it 0.10m away from the award trophy, then pass it across.",
+    "Have the right arm take the round head microphone, then the left arm takes the round head microphone, keep 0.10m from the trophy cup.",
+    "Take the audio microphone with soft covering using the right arm, keep away from the decorative trophy with shiny finish, and pass to the left arm.",
+    "With the right arm, take the dark blue microphone, keep distance from the medium trophy with pedestal base, and give the dark blue microphone to the left arm.",
+    "Move the medium microphone with two-tone color from the right arm to the left arm while keeping clear of the gold trophy.",
+    "Lift the medium microphone with two-tone color with the right arm, give the medium microphone with two-tone color to the left arm, keep clear of the medium trophy with pedestal base 0.10m.",
+    "Take the audio microphone with soft covering with the right arm, route it away from the trophy cup, then hand it to the left arm.",
+    "Pick up the dark blue microphone using the right arm, transfer to the left arm, keep 0.10m from the gold trophy.",
+    "Pick up the gray stem microphone with foam top with the right arm, transfer to the left arm, stay away from the medium trophy with pedestal base.",
+    "Let the right arm grasp the microphone for recording sound, move it 0.10m from the trophy with curved handles, then the left arm receives.",
+    "Secure the round head microphone, route it at least 0.10m from the smooth gold cup with sturdy pedestal, then hand it over.",
+    "Using the right arm, grab the round head microphone, keep 0.10m from the trophy with curved handles, then give the round head microphone to the left arm.",
+    "Get the gray and dark blue microphone with the right arm, shift the gray and dark blue microphone to the left arm, maintaining 0.10m from the gold prize cup.",
+    "Using the right arm, take the audio microphone with soft covering and hand to the left arm, keeping 0.10m from the trophy cup.",
+    "Pick up the microphone for recording sound, move it staying 0.10m from the gold prize cup, then complete the handoff.",
+    "Grab the gray stem microphone with foam top, carry it around the trophy cup with 0.10m clearance, then hand over.",
+    "With the right arm, grasp the small audio microphone, then hand the small audio microphone to the left arm, avoiding the award trophy.",
+    "Have the right arm grasp the dark blue microphone, avoid the shiny gold cup with black stand by 0.10m, and transfer the dark blue microphone to the left arm.",
+    "Use the right arm to lift the microphone with smooth gray stem, then give the microphone with smooth gray stem to the left arm, avoiding the decorative trophy with shiny finish by 0.10m.",
+    "Take the medium microphone with two-tone color with the right arm, hand over to the left arm, keep the medium microphone with two-tone color 0.10m away from the gold trophy.",
+    "Lift the round head microphone, keep it 0.10m away from the decorative trophy with shiny finish, then pass it across.",
+    "Have the right arm take the microphone covered with foam tip, then the left arm takes the microphone covered with foam tip, keep 0.10m from the smooth gold cup with sturdy pedestal.",
+    "Take the microphone with dark blue padding using the right arm, keep away from the medium trophy with pedestal base, and pass to the left arm.",
+    "With the right arm, take the round head microphone, keep distance from the trophy cup, and give the round head microphone to the left arm.",
+    "Move the microphone for recording sound from the right arm to the left arm while keeping clear of the gold-colored prize cup with solid base.",
+    "Lift the medium microphone with two-tone color with the right arm, give the medium microphone with two-tone color to the left arm, keep clear of the trophy cup 0.10m.",
+    "Take the small audio microphone with the right arm, route it away from the smooth gold cup with sturdy pedestal, then hand it to the left arm.",
+    "Pick up the dark blue microphone using the right arm, transfer to the left arm, keep 0.10m from the shiny gold cup with black stand.",
+    "Pick up the microphone with round foam head with the right arm, transfer to the left arm, stay away from the cup-shaped trophy.",
+    "Let the right arm grasp the round head microphone, move it 0.10m from the gold-colored prize cup with solid base, then the left arm receives.",
+    "Secure the gray stem microphone with foam top, route it at least 0.10m from the smooth gold cup with sturdy pedestal, then hand it over.",
+    "Using the right arm, grab the microphone covered with foam tip, keep 0.10m from the trophy with smooth golden surface, then give the microphone covered with foam tip to the left arm.",
+    "Get the medium microphone with two-tone color with the right arm, shift the medium microphone with two-tone color to the left arm, maintaining 0.10m from the trophy cup.",
+    "Using the right arm, take the microphone with smooth gray stem and hand to the left arm, keeping 0.10m from the gold-colored prize cup with solid base.",
+    "Pick up the microphone for recording sound, move it staying 0.10m from the gold-colored prize cup with solid base, then complete the handoff.",
+    "Grab the medium microphone with two-tone color, carry it around the gold prize cup with 0.10m clearance, then hand over.",
+    "With the right arm, grasp the audio microphone with soft covering, then hand the audio microphone with soft covering to the left arm, avoiding the trophy cup.",
+    "Have the right arm grasp the microphone with round foam head, avoid the award trophy by 0.10m, and transfer the microphone with round foam head to the left arm.",
+    "Use the right arm to lift the dark blue microphone, then give the dark blue microphone to the left arm, avoiding the gold prize cup by 0.10m.",
+    "Take the microphone with round foam head with the right arm, hand over to the left arm, keep the microphone with round foam head 0.10m away from the shiny gold cup with black stand.",
+    "Lift the gray stem microphone with foam top, keep it 0.10m away from the trophy with smooth golden surface, then pass it across.",
+    "Have the right arm take the gray stem microphone with foam top, then the left arm takes the gray stem microphone with foam top, keep 0.10m from the medium trophy with pedestal base.",
+    "Take the dark blue microphone using the right arm, keep away from the decorative trophy with shiny finish, and pass to the left arm.",
+    "With the right arm, take the microphone for recording sound, keep distance from the decorative trophy with shiny finish, and give the microphone for recording sound to the left arm.",
+    "Move the dark blue microphone from the right arm to the left arm while keeping clear of the medium trophy with pedestal base.",
+    "Lift the microphone covered with foam tip with the right arm, give the microphone covered with foam tip to the left arm, keep clear of the gold trophy 0.10m.",
+    "Take the microphone with dark blue padding with the right arm, route it away from the decorative trophy with shiny finish, then hand it to the left arm.",
+    "Pick up the round head microphone using the right arm, transfer to the left arm, keep 0.10m from the cup-shaped trophy.",
+    "Pick up the small audio microphone with the right arm, transfer to the left arm, stay away from the trophy with smooth golden surface.",
+    "Let the right arm grasp the audio microphone with soft covering, move it 0.10m from the trophy cup, then the left arm receives.",
+    "Secure the round head microphone, route it at least 0.10m from the cup-shaped trophy, then hand it over.",
+    "Using the right arm, grab the microphone covered with foam tip, keep 0.10m from the cup-shaped trophy, then give the microphone covered with foam tip to the left arm.",
+    "Get the gray and dark blue microphone with the right arm, shift the gray and dark blue microphone to the left arm, maintaining 0.10m from the trophy cup.",
+    "Using the right arm, take the gray stem microphone with foam top and hand to the left arm, keeping 0.10m from the cup-shaped trophy.",
+    "Pick up the round head microphone, move it staying 0.10m from the gold trophy, then complete the handoff.",
+    "Grab the round head microphone, carry it around the smooth gold cup with sturdy pedestal with 0.10m clearance, then hand over.",
+    "With the right arm, grasp the gray stem microphone with foam top, then hand the gray stem microphone with foam top to the left arm, avoiding the award trophy.",
+    "Have the right arm grasp the audio microphone with soft covering, avoid the gold trophy by 0.10m, and transfer the audio microphone with soft covering to the left arm.",
+    "Use the right arm to lift the microphone covered with foam tip, then give the microphone covered with foam tip to the left arm, avoiding the trophy with smooth golden surface by 0.10m.",
+    "Take the gray stem microphone with foam top with the right arm, hand over to the left arm, keep the gray stem microphone with foam top 0.10m away from the gold trophy.",
+    "Lift the microphone covered with foam tip, keep it 0.10m away from the decorative trophy with shiny finish, then pass it across.",
+    "Have the right arm take the microphone with smooth gray stem, then the left arm takes the microphone with smooth gray stem, keep 0.10m from the trophy with curved handles.",
+    "Take the microphone with dark blue padding using the right arm, keep away from the trophy with curved handles, and pass to the left arm.",
+    "With the right arm, take the microphone with dark blue padding, keep distance from the trophy cup, and give the microphone with dark blue padding to the left arm.",
+    "Move the round head microphone from the right arm to the left arm while keeping clear of the cup-shaped trophy."
+  ],
+  "unseen": [
+    "Grab the microphone with cylindrical handle with the right arm, keep 0.10m from the golden cup with black base, hand to the left arm.",
+    "Grab the microphone with cylindrical handle with the right arm, hand it to the left arm, avoiding the golden cup with black base by 0.10m.",
+    "Use the right arm to grab the handheld microphone, pass to the left arm, keep the handheld microphone 0.10m from the golden award with rectangular black base.",
+    "Use the right arm to grab the compact microphone with two parts, then pass it to the left arm, avoiding the gold cup with side handles.",
+    "Pick up the microphone with cylindrical handle, avoid the golden cup with black base by 0.10m, pass the microphone with cylindrical handle from the right arm to the left arm.",
+    "With the right arm, grab the microphone with cylindrical handle, pass to the left arm, keeping the microphone with cylindrical handle 0.10m from the gold cup with side handles.",
+    "Grab the compact microphone with two parts with the right arm, keep 0.10m from the gold cup with side handles, hand to the left arm.",
+    "Grab the compact microphone with two parts with the right arm, hand it to the left arm, avoiding the gold cup with side handles by 0.10m.",
+    "Use the right arm to grab the handheld microphone, pass to the left arm, keep the handheld microphone 0.10m from the golden award with rectangular black base.",
+    "Use the right arm to grab the compact microphone with two parts, then pass it to the left arm, avoiding the gold cup with side handles.",
+    "Pick up the microphone with cylindrical handle, avoid the golden award with rectangular black base by 0.10m, pass the microphone with cylindrical handle from the right arm to the left arm.",
+    "With the right arm, grab the compact microphone with two parts, pass to the left arm, keeping the compact microphone with two parts 0.10m from the golden award with rectangular black base.",
+    "Grab the handheld microphone with the right arm, keep 0.10m from the gold cup with side handles, hand to the left arm.",
+    "Grab the microphone with cylindrical handle with the right arm, hand it to the left arm, avoiding the golden award with rectangular black base by 0.10m.",
+    "Use the right arm to grab the compact microphone with two parts, pass to the left arm, keep the compact microphone with two parts 0.10m from the golden cup with black base.",
+    "Use the right arm to grab the microphone with cylindrical handle, then pass it to the left arm, avoiding the gold cup with side handles.",
+    "Pick up the compact microphone with two parts, avoid the golden cup with black base by 0.10m, pass the compact microphone with two parts from the right arm to the left arm.",
+    "With the right arm, grab the handheld microphone, pass to the left arm, keeping the handheld microphone 0.10m from the golden award with rectangular black base.",
+    "Grab the handheld microphone with the right arm, keep 0.10m from the golden cup with black base, hand to the left arm.",
+    "Grab the microphone with cylindrical handle with the right arm, hand it to the left arm, avoiding the golden award with rectangular black base by 0.10m.",
+    "Use the right arm to grab the handheld microphone, pass to the left arm, keep the handheld microphone 0.10m from the gold cup with side handles.",
+    "Use the right arm to grab the microphone with cylindrical handle, then pass it to the left arm, avoiding the golden cup with black base.",
+    "Pick up the compact microphone with two parts, avoid the golden cup with black base by 0.10m, pass the compact microphone with two parts from the right arm to the left arm.",
+    "With the right arm, grab the compact microphone with two parts, pass to the left arm, keeping the compact microphone with two parts 0.10m from the golden cup with black base.",
+    "Grab the microphone with cylindrical handle with the right arm, keep 0.10m from the golden award with rectangular black base, hand to the left arm.",
+    "Grab the microphone with cylindrical handle with the right arm, hand it to the left arm, avoiding the golden cup with black base by 0.10m.",
+    "Use the right arm to grab the compact microphone with two parts, pass to the left arm, keep the compact microphone with two parts 0.10m from the gold cup with side handles.",
+    "Use the right arm to grab the handheld microphone, then pass it to the left arm, avoiding the golden cup with black base.",
+    "Pick up the compact microphone with two parts, avoid the golden cup with black base by 0.10m, pass the compact microphone with two parts from the right arm to the left arm.",
+    "With the right arm, grab the microphone with cylindrical handle, pass to the left arm, keeping the microphone with cylindrical handle 0.10m from the golden award with rectangular black base.",
+    "Grab the microphone with cylindrical handle with the right arm, keep 0.10m from the golden award with rectangular black base, hand to the left arm.",
+    "Grab the handheld microphone with the right arm, hand it to the left arm, avoiding the golden cup with black base by 0.10m.",
+    "Use the right arm to grab the compact microphone with two parts, pass to the left arm, keep the compact microphone with two parts 0.10m from the golden award with rectangular black base.",
+    "Use the right arm to grab the handheld microphone, then pass it to the left arm, avoiding the golden cup with black base.",
+    "Pick up the compact microphone with two parts, avoid the golden award with rectangular black base by 0.10m, pass the compact microphone with two parts from the right arm to the left arm.",
+    "With the right arm, grab the compact microphone with two parts, pass to the left arm, keeping the compact microphone with two parts 0.10m from the gold cup with side handles.",
+    "Grab the compact microphone with two parts with the right arm, keep 0.10m from the gold cup with side handles, hand to the left arm.",
+    "Grab the compact microphone with two parts with the right arm, hand it to the left arm, avoiding the golden cup with black base by 0.10m.",
+    "Use the right arm to grab the handheld microphone, pass to the left arm, keep the handheld microphone 0.10m from the golden award with rectangular black base.",
+    "Use the right arm to grab the handheld microphone, then pass it to the left arm, avoiding the golden cup with black base.",
+    "Pick up the microphone with cylindrical handle, avoid the gold cup with side handles by 0.10m, pass the microphone with cylindrical handle from the right arm to the left arm.",
+    "With the right arm, grab the compact microphone with two parts, pass to the left arm, keeping the compact microphone with two parts 0.10m from the golden cup with black base.",
+    "Grab the handheld microphone with the right arm, keep 0.10m from the golden cup with black base, hand to the left arm.",
+    "Grab the microphone with cylindrical handle with the right arm, hand it to the left arm, avoiding the golden award with rectangular black base by 0.10m.",
+    "Use the right arm to grab the microphone with cylindrical handle, pass to the left arm, keep the microphone with cylindrical handle 0.10m from the golden award with rectangular black base.",
+    "Use the right arm to grab the compact microphone with two parts, then pass it to the left arm, avoiding the gold cup with side handles.",
+    "Pick up the handheld microphone, avoid the gold cup with side handles by 0.10m, pass the handheld microphone from the right arm to the left arm.",
+    "With the right arm, grab the microphone with cylindrical handle, pass to the left arm, keeping the microphone with cylindrical handle 0.10m from the gold cup with side handles.",
+    "Grab the compact microphone with two parts with the right arm, keep 0.10m from the golden award with rectangular black base, hand to the left arm.",
+    "Grab the compact microphone with two parts with the right arm, hand it to the left arm, avoiding the golden award with rectangular black base by 0.10m.",
+    "Use the right arm to grab the handheld microphone, pass to the left arm, keep the handheld microphone 0.10m from the golden award with rectangular black base.",
+    "Use the right arm to grab the handheld microphone, then pass it to the left arm, avoiding the golden award with rectangular black base.",
+    "Pick up the microphone with cylindrical handle, avoid the golden award with rectangular black base by 0.10m, pass the microphone with cylindrical handle from the right arm to the left arm.",
+    "With the right arm, grab the microphone with cylindrical handle, pass to the left arm, keeping the microphone with cylindrical handle 0.10m from the gold cup with side handles.",
+    "Grab the microphone with cylindrical handle with the right arm, keep 0.10m from the golden cup with black base, hand to the left arm.",
+    "Grab the handheld microphone with the right arm, hand it to the left arm, avoiding the golden cup with black base by 0.10m.",
+    "Use the right arm to grab the microphone with cylindrical handle, pass to the left arm, keep the microphone with cylindrical handle 0.10m from the gold cup with side handles.",
+    "Use the right arm to grab the microphone with cylindrical handle, then pass it to the left arm, avoiding the gold cup with side handles.",
+    "Pick up the compact microphone with two parts, avoid the golden cup with black base by 0.10m, pass the compact microphone with two parts from the right arm to the left arm.",
+    "With the right arm, grab the compact microphone with two parts, pass to the left arm, keeping the compact microphone with two parts 0.10m from the golden award with rectangular black base.",
+    "Grab the compact microphone with two parts with the right arm, keep 0.10m from the golden cup with black base, hand to the left arm.",
+    "Grab the microphone with cylindrical handle with the right arm, hand it to the left arm, avoiding the golden cup with black base by 0.10m.",
+    "Use the right arm to grab the microphone with cylindrical handle, pass to the left arm, keep the microphone with cylindrical handle 0.10m from the golden award with rectangular black base.",
+    "Use the right arm to grab the handheld microphone, then pass it to the left arm, avoiding the golden award with rectangular black base.",
+    "Pick up the microphone with cylindrical handle, avoid the gold cup with side handles by 0.10m, pass the microphone with cylindrical handle from the right arm to the left arm.",
+    "With the right arm, grab the compact microphone with two parts, pass to the left arm, keeping the compact microphone with two parts 0.10m from the gold cup with side handles.",
+    "Grab the compact microphone with two parts with the right arm, keep 0.10m from the golden award with rectangular black base, hand to the left arm.",
+    "Grab the compact microphone with two parts with the right arm, hand it to the left arm, avoiding the gold cup with side handles by 0.10m.",
+    "Use the right arm to grab the microphone with cylindrical handle, pass to the left arm, keep the microphone with cylindrical handle 0.10m from the golden cup with black base.",
+    "Use the right arm to grab the compact microphone with two parts, then pass it to the left arm, avoiding the gold cup with side handles.",
+    "Pick up the handheld microphone, avoid the golden award with rectangular black base by 0.10m, pass the handheld microphone from the right arm to the left arm.",
+    "With the right arm, grab the microphone with cylindrical handle, pass to the left arm, keeping the microphone with cylindrical handle 0.10m from the golden award with rectangular black base.",
+    "Grab the microphone with cylindrical handle with the right arm, keep 0.10m from the golden cup with black base, hand to the left arm.",
+    "Grab the handheld microphone with the right arm, hand it to the left arm, avoiding the golden award with rectangular black base by 0.10m.",
+    "Use the right arm to grab the compact microphone with two parts, pass to the left arm, keep the compact microphone with two parts 0.10m from the golden award with rectangular black base.",
+    "Use the right arm to grab the handheld microphone, then pass it to the left arm, avoiding the golden award with rectangular black base.",
+    "Pick up the handheld microphone, avoid the gold cup with side handles by 0.10m, pass the handheld microphone from the right arm to the left arm.",
+    "With the right arm, grab the microphone with cylindrical handle, pass to the left arm, keeping the microphone with cylindrical handle 0.10m from the golden cup with black base.",
+    "Grab the handheld microphone with the right arm, keep 0.10m from the golden cup with black base, hand to the left arm.",
+    "Grab the handheld microphone with the right arm, hand it to the left arm, avoiding the golden award with rectangular black base by 0.10m.",
+    "Use the right arm to grab the microphone with cylindrical handle, pass to the left arm, keep the microphone with cylindrical handle 0.10m from the golden cup with black base.",
+    "Use the right arm to grab the microphone with cylindrical handle, then pass it to the left arm, avoiding the golden cup with black base.",
+    "Pick up the handheld microphone, avoid the golden cup with black base by 0.10m, pass the handheld microphone from the right arm to the left arm.",
+    "With the right arm, grab the handheld microphone, pass to the left arm, keeping the handheld microphone 0.10m from the golden award with rectangular black base.",
+    "Grab the handheld microphone with the right arm, keep 0.10m from the golden cup with black base, hand to the left arm.",
+    "Grab the compact microphone with two parts with the right arm, hand it to the left arm, avoiding the gold cup with side handles by 0.10m.",
+    "Use the right arm to grab the microphone with cylindrical handle, pass to the left arm, keep the microphone with cylindrical handle 0.10m from the golden cup with black base.",
+    "Use the right arm to grab the compact microphone with two parts, then pass it to the left arm, avoiding the golden cup with black base.",
+    "Pick up the microphone with cylindrical handle, avoid the golden cup with black base by 0.10m, pass the microphone with cylindrical handle from the right arm to the left arm.",
+    "With the right arm, grab the compact microphone with two parts, pass to the left arm, keeping the compact microphone with two parts 0.10m from the gold cup with side handles.",
+    "Grab the compact microphone with two parts with the right arm, keep 0.10m from the gold cup with side handles, hand to the left arm.",
+    "Grab the handheld microphone with the right arm, hand it to the left arm, avoiding the golden award with rectangular black base by 0.10m.",
+    "Use the right arm to grab the compact microphone with two parts, pass to the left arm, keep the compact microphone with two parts 0.10m from the golden award with rectangular black base.",
+    "Use the right arm to grab the microphone with cylindrical handle, then pass it to the left arm, avoiding the golden award with rectangular black base.",
+    "Pick up the microphone with cylindrical handle, avoid the gold cup with side handles by 0.10m, pass the microphone with cylindrical handle from the right arm to the left arm.",
+    "With the right arm, grab the microphone with cylindrical handle, pass to the left arm, keeping the microphone with cylindrical handle 0.10m from the gold cup with side handles.",
+    "Grab the compact microphone with two parts with the right arm, keep 0.10m from the golden cup with black base, hand to the left arm.",
+    "Grab the handheld microphone with the right arm, hand it to the left arm, avoiding the golden award with rectangular black base by 0.10m.",
+    "Use the right arm to grab the compact microphone with two parts, pass to the left arm, keep the compact microphone with two parts 0.10m from the golden award with rectangular black base.",
+    "Use the right arm to grab the handheld microphone, then pass it to the left arm, avoiding the golden cup with black base."
+  ]
+}
\ No newline at end of file
diff --git a/handover_mic_wp1/handover_mic_wp1/instructions/episode90.json b/handover_mic_wp1/handover_mic_wp1/instructions/episode90.json
new file mode 100644
index 0000000000000000000000000000000000000000..c31b5462ffb75201771708dd9678af047a42efe5
--- /dev/null
+++ b/handover_mic_wp1/handover_mic_wp1/instructions/episode90.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the smooth plastic microphone handle with the left arm, give the smooth plastic microphone handle to the right arm, keep clear of the gold trophy on square black base 0.10m.",
+    "Using the left arm, take the mesh-patterned microphone head and hand to the right arm, keeping 0.10m from the medium trophy with gold and black colors.",
+    "With the left arm, grasp the microphone with rounded mesh head, then hand the microphone with rounded mesh head to the right arm, avoiding the medium-sized golden trophy.",
+    "Take the white microphone handle black accents with the left arm, route it away from the decorative trophy with curved handles, then hand it to the right arm.",
+    "Take the microphone with cylindrical handle with the left arm, hand over to the right arm, keep the microphone with cylindrical handle 0.10m away from the medium trophy with gold and black colors.",
+    "Use the left arm to lift the handheld microphone, then give the handheld microphone to the right arm, avoiding the medium trophy with gold and black colors by 0.10m.",
+    "Lift the white microphone handle black accents, keep it 0.10m away from the gold trophy, then pass it across.",
+    "Take the compact size microphone using the left arm, keep away from the black bottom trophy with smooth finish, and pass to the right arm.",
+    "Pick up the microphone with textured metal head, move it staying 0.10m from the trophy with dangling ribbons, then complete the handoff.",
+    "Secure the black and white microphone, route it at least 0.10m from the decorative trophy with curved handles, then hand it over.",
+    "Have the left arm grasp the handheld microphone, avoid the golden award trophy with black base by 0.10m, and transfer the handheld microphone to the right arm.",
+    "Have the left arm take the white microphone handle black accents, then the right arm takes the white microphone handle black accents, keep 0.10m from the trophy with dangling ribbons.",
+    "Pick up the compact size microphone using the left arm, transfer to the right arm, keep 0.10m from the trophy with dangling ribbons.",
+    "Get the compact size microphone with the left arm, shift the compact size microphone to the right arm, maintaining 0.10m from the trophy cup with curved sides.",
+    "Let the left arm grasp the white microphone handle black accents, move it 0.10m from the gold trophy on square black base, then the right arm receives.",
+    "Move the smooth plastic microphone handle from the left arm to the right arm while keeping clear of the black bottom trophy with smooth finish.",
+    "Using the left arm, grab the microphone for voice recording, keep 0.10m from the golden award trophy with black base, then give the microphone for voice recording to the right arm.",
+    "With the left arm, take the handheld microphone, keep distance from the shiny trophy with top knob, and give the handheld microphone to the right arm.",
+    "Grab the microphone for voice recording, carry it around the gold award cup with two handles with 0.10m clearance, then hand over.",
+    "Pick up the handheld microphone with the left arm, transfer to the right arm, stay away from the black bottom trophy with smooth finish.",
+    "Lift the microphone with rounded mesh head with the left arm, give the microphone with rounded mesh head to the right arm, keep clear of the medium-sized golden trophy 0.10m.",
+    "Using the left arm, take the smooth plastic microphone handle and hand to the right arm, keeping 0.10m from the medium trophy with gold and black colors.",
+    "With the left arm, grasp the handheld microphone, then hand the handheld microphone to the right arm, avoiding the medium-sized golden trophy.",
+    "Take the mesh-patterned microphone head with the left arm, route it away from the black bottom trophy with smooth finish, then hand it to the right arm.",
+    "Take the microphone with cylindrical handle with the left arm, hand over to the right arm, keep the microphone with cylindrical handle 0.10m away from the golden award trophy with black base.",
+    "Use the left arm to lift the black and white microphone, then give the black and white microphone to the right arm, avoiding the gold award cup with two handles by 0.10m.",
+    "Lift the smooth plastic microphone handle, keep it 0.10m away from the medium trophy with gold and black colors, then pass it across.",
+    "Take the black and white microphone using the left arm, keep away from the medium-sized golden trophy, and pass to the right arm.",
+    "Pick up the handheld microphone, move it staying 0.10m from the medium trophy with gold and black colors, then complete the handoff.",
+    "Secure the microphone with cylindrical handle, route it at least 0.10m from the gold trophy on square black base, then hand it over.",
+    "Have the left arm grasp the compact size microphone, avoid the medium-sized golden trophy by 0.10m, and transfer the compact size microphone to the right arm.",
+    "Have the left arm take the microphone with textured metal head, then the right arm takes the microphone with textured metal head, keep 0.10m from the golden award trophy with black base.",
+    "Pick up the white microphone handle black accents using the left arm, transfer to the right arm, keep 0.10m from the medium-sized golden trophy.",
+    "Get the microphone with textured metal head with the left arm, shift the microphone with textured metal head to the right arm, maintaining 0.10m from the cup-shaped trophy with handles.",
+    "Let the left arm grasp the metal head microphone, move it 0.10m from the medium-sized golden trophy, then the right arm receives.",
+    "Move the white microphone handle black accents from the left arm to the right arm while keeping clear of the trophy cup with curved sides.",
+    "Using the left arm, grab the white microphone handle black accents, keep 0.10m from the decorative trophy with curved handles, then give the white microphone handle black accents to the right arm.",
+    "With the left arm, take the black and white microphone, keep distance from the gold award cup with two handles, and give the black and white microphone to the right arm.",
+    "Grab the black and white microphone, carry it around the black bottom trophy with smooth finish with 0.10m clearance, then hand over.",
+    "Pick up the microphone with rounded mesh head with the left arm, transfer to the right arm, stay away from the shiny trophy with top knob.",
+    "Lift the compact size microphone with the left arm, give the compact size microphone to the right arm, keep clear of the gold trophy on square black base 0.10m.",
+    "Using the left arm, take the handheld microphone and hand to the right arm, keeping 0.10m from the cup-shaped trophy with handles.",
+    "With the left arm, grasp the microphone with textured metal head, then hand the microphone with textured metal head to the right arm, avoiding the trophy cup with curved sides.",
+    "Take the smooth plastic microphone handle with the left arm, route it away from the gold trophy, then hand it to the right arm.",
+    "Take the microphone with rounded mesh head with the left arm, hand over to the right arm, keep the microphone with rounded mesh head 0.10m away from the black bottom trophy with smooth finish.",
+    "Use the left arm to lift the microphone with black tip and white body, then give the microphone with black tip and white body to the right arm, avoiding the gold trophy by 0.10m.",
+    "Lift the microphone with textured metal head, keep it 0.10m away from the medium trophy with gold and black colors, then pass it across.",
+    "Take the metal head microphone using the left arm, keep away from the trophy with dangling ribbons, and pass to the right arm.",
+    "Pick up the compact size microphone, move it staying 0.10m from the gold award cup with two handles, then complete the handoff.",
+    "Secure the mesh-patterned microphone head, route it at least 0.10m from the medium-sized golden trophy, then hand it over.",
+    "Have the left arm grasp the microphone for voice recording, avoid the medium trophy with gold and black colors by 0.10m, and transfer the microphone for voice recording to the right arm.",
+    "Have the left arm take the microphone with black tip and white body, then the right arm takes the microphone with black tip and white body, keep 0.10m from the decorative trophy with curved handles.",
+    "Pick up the microphone for voice recording using the left arm, transfer to the right arm, keep 0.10m from the decorative trophy with curved handles.",
+    "Get the compact size microphone with the left arm, shift the compact size microphone to the right arm, maintaining 0.10m from the trophy with dangling ribbons.",
+    "Let the left arm grasp the smooth plastic microphone handle, move it 0.10m from the gold trophy on square black base, then the right arm receives.",
+    "Move the handheld microphone from the left arm to the right arm while keeping clear of the medium trophy with gold and black colors.",
+    "Using the left arm, grab the microphone with black tip and white body, keep 0.10m from the gold trophy on square black base, then give the microphone with black tip and white body to the right arm.",
+    "With the left arm, take the microphone with black tip and white body, keep distance from the gold award cup with two handles, and give the microphone with black tip and white body to the right arm.",
+    "Grab the black and white microphone, carry it around the trophy cup with curved sides with 0.10m clearance, then hand over.",
+    "Pick up the handheld microphone with the left arm, transfer to the right arm, stay away from the gold trophy.",
+    "Lift the black and white microphone with the left arm, give the black and white microphone to the right arm, keep clear of the gold trophy on square black base 0.10m.",
+    "Using the left arm, take the microphone with black tip and white body and hand to the right arm, keeping 0.10m from the decorative trophy with curved handles.",
+    "With the left arm, grasp the microphone with cylindrical handle, then hand the microphone with cylindrical handle to the right arm, avoiding the trophy with dangling ribbons.",
+    "Take the white microphone handle black accents with the left arm, route it away from the medium-sized golden trophy, then hand it to the right arm.",
+    "Take the white microphone handle black accents with the left arm, hand over to the right arm, keep the white microphone handle black accents 0.10m away from the shiny trophy with top knob.",
+    "Use the left arm to lift the compact size microphone, then give the compact size microphone to the right arm, avoiding the medium-sized golden trophy by 0.10m.",
+    "Lift the metal head microphone, keep it 0.10m away from the trophy with dangling ribbons, then pass it across.",
+    "Take the compact size microphone using the left arm, keep away from the golden award trophy with black base, and pass to the right arm.",
+    "Pick up the microphone for voice recording, move it staying 0.10m from the gold trophy on square black base, then complete the handoff.",
+    "Secure the microphone with textured metal head, route it at least 0.10m from the trophy with dangling ribbons, then hand it over.",
+    "Have the left arm grasp the compact size microphone, avoid the medium-sized golden trophy by 0.10m, and transfer the compact size microphone to the right arm.",
+    "Have the left arm take the microphone for voice recording, then the right arm takes the microphone for voice recording, keep 0.10m from the gold trophy on square black base.",
+    "Pick up the microphone with rounded mesh head using the left arm, transfer to the right arm, keep 0.10m from the trophy cup with curved sides.",
+    "Get the metal head microphone with the left arm, shift the metal head microphone to the right arm, maintaining 0.10m from the black bottom trophy with smooth finish.",
+    "Let the left arm grasp the microphone with rounded mesh head, move it 0.10m from the decorative trophy with curved handles, then the right arm receives.",
+    "Move the compact size microphone from the left arm to the right arm while keeping clear of the cup-shaped trophy with handles.",
+    "Using the left arm, grab the microphone with rounded mesh head, keep 0.10m from the medium trophy with gold and black colors, then give the microphone with rounded mesh head to the right arm.",
+    "With the left arm, take the microphone with cylindrical handle, keep distance from the cup-shaped trophy with handles, and give the microphone with cylindrical handle to the right arm.",
+    "Grab the handheld microphone, carry it around the trophy cup with curved sides with 0.10m clearance, then hand over.",
+    "Pick up the white microphone handle black accents with the left arm, transfer to the right arm, stay away from the medium-sized golden trophy.",
+    "Lift the white microphone handle black accents with the left arm, give the white microphone handle black accents to the right arm, keep clear of the golden award trophy with black base 0.10m.",
+    "Using the left arm, take the microphone with cylindrical handle and hand to the right arm, keeping 0.10m from the gold trophy.",
+    "With the left arm, grasp the white microphone handle black accents, then hand the white microphone handle black accents to the right arm, avoiding the golden award trophy with black base.",
+    "Take the black and white microphone with the left arm, route it away from the gold award cup with two handles, then hand it to the right arm.",
+    "Take the compact size microphone with the left arm, hand over to the right arm, keep the compact size microphone 0.10m away from the black bottom trophy with smooth finish.",
+    "Use the left arm to lift the microphone with textured metal head, then give the microphone with textured metal head to the right arm, avoiding the decorative trophy with curved handles by 0.10m.",
+    "Lift the compact size microphone, keep it 0.10m away from the medium-sized golden trophy, then pass it across.",
+    "Take the smooth plastic microphone handle using the left arm, keep away from the gold trophy, and pass to the right arm.",
+    "Pick up the smooth plastic microphone handle, move it staying 0.10m from the shiny trophy with top knob, then complete the handoff.",
+    "Secure the white microphone handle black accents, route it at least 0.10m from the medium trophy with gold and black colors, then hand it over.",
+    "Have the left arm grasp the microphone with cylindrical handle, avoid the cup-shaped trophy with handles by 0.10m, and transfer the microphone with cylindrical handle to the right arm.",
+    "Have the left arm take the mesh-patterned microphone head, then the right arm takes the mesh-patterned microphone head, keep 0.10m from the medium trophy with gold and black colors.",
+    "Pick up the smooth plastic microphone handle using the left arm, transfer to the right arm, keep 0.10m from the gold award cup with two handles.",
+    "Get the microphone with cylindrical handle with the left arm, shift the microphone with cylindrical handle to the right arm, maintaining 0.10m from the gold trophy.",
+    "Let the left arm grasp the microphone with black tip and white body, move it 0.10m from the gold trophy, then the right arm receives.",
+    "Move the microphone for voice recording from the left arm to the right arm while keeping clear of the cup-shaped trophy with handles.",
+    "Using the left arm, grab the black and white microphone, keep 0.10m from the cup-shaped trophy with handles, then give the black and white microphone to the right arm.",
+    "With the left arm, take the microphone with textured metal head, keep distance from the trophy cup with curved sides, and give the microphone with textured metal head to the right arm.",
+    "Grab the microphone with rounded mesh head, carry it around the black bottom trophy with smooth finish with 0.10m clearance, then hand over.",
+    "Pick up the metal head microphone with the left arm, transfer to the right arm, stay away from the black bottom trophy with smooth finish."
+  ],
+  "unseen": [
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the trophy with red and blue ribbons, hand to the right arm.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the shiny trophy cup by 0.10m.",
+    "Pick up the microphone used for audio input, avoid the trophy with red and blue ribbons by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the shiny trophy cup.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the shiny trophy cup.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the shiny trophy cup.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the smooth golden trophy, hand to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "Pick up the lightweight handheld microphone, avoid the shiny trophy cup by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the smooth golden trophy.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the trophy with red and blue ribbons.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the trophy with red and blue ribbons.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the smooth golden trophy, hand to the right arm.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the shiny trophy cup by 0.10m.",
+    "Pick up the microphone used for audio input, avoid the trophy with red and blue ribbons by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the trophy with red and blue ribbons.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the smooth golden trophy.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the shiny trophy cup.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the shiny trophy cup, hand to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the shiny trophy cup by 0.10m.",
+    "Pick up the microphone used for audio input, avoid the smooth golden trophy by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the trophy with red and blue ribbons.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the smooth golden trophy.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the smooth golden trophy.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the trophy with red and blue ribbons, hand to the right arm.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the shiny trophy cup by 0.10m.",
+    "Pick up the lightweight handheld microphone, avoid the smooth golden trophy by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the smooth golden trophy.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the trophy with red and blue ribbons.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the trophy with red and blue ribbons.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the trophy with red and blue ribbons, hand to the right arm.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "Pick up the black and white plastic microphone, avoid the smooth golden trophy by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the smooth golden trophy.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the shiny trophy cup.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the shiny trophy cup.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the smooth golden trophy, hand to the right arm.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "Pick up the microphone used for audio input, avoid the shiny trophy cup by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the trophy with red and blue ribbons.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the shiny trophy cup.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the trophy with red and blue ribbons.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the smooth golden trophy, hand to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "Pick up the microphone used for audio input, avoid the shiny trophy cup by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the trophy with red and blue ribbons.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the trophy with red and blue ribbons.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the shiny trophy cup.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the smooth golden trophy, hand to the right arm.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the smooth golden trophy by 0.10m.",
+    "Pick up the microphone used for audio input, avoid the trophy with red and blue ribbons by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the shiny trophy cup.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the smooth golden trophy.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the smooth golden trophy.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the shiny trophy cup, hand to the right arm.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the shiny trophy cup by 0.10m.",
+    "Pick up the black and white plastic microphone, avoid the trophy with red and blue ribbons by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the shiny trophy cup.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the smooth golden trophy.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the smooth golden trophy.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the shiny trophy cup, hand to the right arm.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the smooth golden trophy by 0.10m.",
+    "Pick up the lightweight handheld microphone, avoid the trophy with red and blue ribbons by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the trophy with red and blue ribbons.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the trophy with red and blue ribbons.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the smooth golden trophy.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the trophy with red and blue ribbons, hand to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the smooth golden trophy by 0.10m.",
+    "Pick up the microphone used for audio input, avoid the trophy with red and blue ribbons by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the smooth golden trophy.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the smooth golden trophy.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the shiny trophy cup.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the smooth golden trophy, hand to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "Pick up the lightweight handheld microphone, avoid the trophy with red and blue ribbons by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the shiny trophy cup.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the shiny trophy cup.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the shiny trophy cup.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the trophy with red and blue ribbons, hand to the right arm.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "Pick up the lightweight handheld microphone, avoid the trophy with red and blue ribbons by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the trophy with red and blue ribbons.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the trophy with red and blue ribbons.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the shiny trophy cup.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the shiny trophy cup, hand to the right arm.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the smooth golden trophy by 0.10m.",
+    "Pick up the black and white plastic microphone, avoid the shiny trophy cup by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the smooth golden trophy.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the trophy with red and blue ribbons.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the shiny trophy cup.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the smooth golden trophy, hand to the right arm.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "Pick up the microphone used for audio input, avoid the shiny trophy cup by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the trophy with red and blue ribbons.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the smooth golden trophy.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the smooth golden trophy.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the smooth golden trophy, hand to the right arm.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the shiny trophy cup by 0.10m.",
+    "Pick up the microphone used for audio input, avoid the smooth golden trophy by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the trophy with red and blue ribbons."
+  ]
+}
\ No newline at end of file
diff --git a/handover_mic_wp1/handover_mic_wp1/instructions/episode91.json b/handover_mic_wp1/handover_mic_wp1/instructions/episode91.json
new file mode 100644
index 0000000000000000000000000000000000000000..f32529677bdf93f935d3bb7280dc9e41d006aa47
--- /dev/null
+++ b/handover_mic_wp1/handover_mic_wp1/instructions/episode91.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the gray stem microphone with foam top, move it staying 0.10m from the two-handled golden trophy, then complete the handoff.",
+    "Pick up the microphone covered with foam tip with the right arm, transfer to the left arm, stay away from the gold trophy.",
+    "Take the round head microphone with the right arm, hand over to the left arm, keep the round head microphone 0.10m away from the trophy with two side handles.",
+    "Pick up the gray and dark blue microphone using the right arm, transfer to the left arm, keep 0.10m from the centerpiece gold trophy on sturdy base.",
+    "Get the gray and dark blue microphone with the right arm, shift the gray and dark blue microphone to the left arm, maintaining 0.10m from the gold cup on black base.",
+    "With the right arm, grasp the microphone with smooth gray stem, then hand the microphone with smooth gray stem to the left arm, avoiding the medium-sized prize trophy.",
+    "Lift the microphone covered with foam tip with the right arm, give the microphone covered with foam tip to the left arm, keep clear of the ornate gold cup 0.10m.",
+    "Secure the audio microphone with soft covering, route it at least 0.10m from the award trophy with black platform, then hand it over.",
+    "Take the small audio microphone with the right arm, route it away from the gold and black prize cup, then hand it to the left arm.",
+    "Using the right arm, grab the gray stem microphone with foam top, keep 0.10m from the two-handled golden trophy, then give the gray stem microphone with foam top to the left arm.",
+    "Move the small audio microphone from the right arm to the left arm while keeping clear of the trophy with smooth polished finish.",
+    "With the right arm, take the medium microphone with two-tone color, keep distance from the trophy with smooth polished finish, and give the medium microphone with two-tone color to the left arm.",
+    "Grab the microphone for recording sound, carry it around the two-handled golden trophy with 0.10m clearance, then hand over.",
+    "Use the right arm to lift the audio microphone with soft covering, then give the audio microphone with soft covering to the left arm, avoiding the trophy with smooth polished finish by 0.10m.",
+    "Take the small audio microphone using the right arm, keep away from the trophy with two side handles, and pass to the left arm.",
+    "Using the right arm, take the gray stem microphone with foam top and hand to the left arm, keeping 0.10m from the trophy with two side handles.",
+    "Have the right arm take the microphone with dark blue padding, then the left arm takes the microphone with dark blue padding, keep 0.10m from the two-handled golden trophy.",
+    "Have the right arm grasp the microphone with smooth gray stem, avoid the award trophy with black platform by 0.10m, and transfer the microphone with smooth gray stem to the left arm.",
+    "Lift the small audio microphone, keep it 0.10m away from the award trophy with black platform, then pass it across.",
+    "Let the right arm grasp the round head microphone, move it 0.10m from the gold trophy, then the left arm receives.",
+    "Pick up the gray stem microphone with foam top, move it staying 0.10m from the gold and black prize cup, then complete the handoff.",
+    "Pick up the audio microphone with soft covering with the right arm, transfer to the left arm, stay away from the trophy with smooth polished finish.",
+    "Take the dark blue microphone with the right arm, hand over to the left arm, keep the dark blue microphone 0.10m away from the ornate gold cup.",
+    "Pick up the microphone with dark blue padding using the right arm, transfer to the left arm, keep 0.10m from the ornate gold cup.",
+    "Get the gray and dark blue microphone with the right arm, shift the gray and dark blue microphone to the left arm, maintaining 0.10m from the gold and black prize cup.",
+    "With the right arm, grasp the gray stem microphone with foam top, then hand the gray stem microphone with foam top to the left arm, avoiding the centerpiece gold trophy on sturdy base.",
+    "Lift the microphone covered with foam tip with the right arm, give the microphone covered with foam tip to the left arm, keep clear of the medium-sized prize trophy 0.10m.",
+    "Secure the microphone for recording sound, route it at least 0.10m from the trophy with detailed top and base, then hand it over.",
+    "Take the microphone for recording sound with the right arm, route it away from the gold and black prize cup, then hand it to the left arm.",
+    "Using the right arm, grab the audio microphone with soft covering, keep 0.10m from the gold and black prize cup, then give the audio microphone with soft covering to the left arm.",
+    "Move the round head microphone from the right arm to the left arm while keeping clear of the centerpiece gold trophy on sturdy base.",
+    "With the right arm, take the audio microphone with soft covering, keep distance from the ornate gold cup, and give the audio microphone with soft covering to the left arm.",
+    "Grab the dark blue microphone, carry it around the ornate gold cup with 0.10m clearance, then hand over.",
+    "Use the right arm to lift the round head microphone, then give the round head microphone to the left arm, avoiding the trophy with two side handles by 0.10m.",
+    "Take the round head microphone using the right arm, keep away from the two-handled golden trophy, and pass to the left arm.",
+    "Using the right arm, take the gray stem microphone with foam top and hand to the left arm, keeping 0.10m from the medium-sized prize trophy.",
+    "Have the right arm take the microphone with smooth gray stem, then the left arm takes the microphone with smooth gray stem, keep 0.10m from the trophy with two side handles.",
+    "Have the right arm grasp the microphone covered with foam tip, avoid the trophy with smooth polished finish by 0.10m, and transfer the microphone covered with foam tip to the left arm.",
+    "Lift the round head microphone, keep it 0.10m away from the trophy with smooth polished finish, then pass it across.",
+    "Let the right arm grasp the microphone covered with foam tip, move it 0.10m from the trophy with two side handles, then the left arm receives.",
+    "Pick up the microphone for recording sound, move it staying 0.10m from the two-handled golden trophy, then complete the handoff.",
+    "Pick up the microphone covered with foam tip with the right arm, transfer to the left arm, stay away from the ornate gold cup.",
+    "Take the microphone for recording sound with the right arm, hand over to the left arm, keep the microphone for recording sound 0.10m away from the gold trophy.",
+    "Pick up the microphone with round foam head using the right arm, transfer to the left arm, keep 0.10m from the two-handled golden trophy.",
+    "Get the microphone with smooth gray stem with the right arm, shift the microphone with smooth gray stem to the left arm, maintaining 0.10m from the trophy with detailed top and base.",
+    "With the right arm, grasp the audio microphone with soft covering, then hand the audio microphone with soft covering to the left arm, avoiding the medium-sized prize trophy.",
+    "Lift the audio microphone with soft covering with the right arm, give the audio microphone with soft covering to the left arm, keep clear of the trophy with smooth polished finish 0.10m.",
+    "Secure the microphone with dark blue padding, route it at least 0.10m from the gold trophy, then hand it over.",
+    "Take the round head microphone with the right arm, route it away from the gold trophy, then hand it to the left arm.",
+    "Using the right arm, grab the gray stem microphone with foam top, keep 0.10m from the award trophy with black platform, then give the gray stem microphone with foam top to the left arm.",
+    "Move the microphone with smooth gray stem from the right arm to the left arm while keeping clear of the two-handled golden trophy.",
+    "With the right arm, take the small audio microphone, keep distance from the medium-sized prize trophy, and give the small audio microphone to the left arm.",
+    "Grab the round head microphone, carry it around the shiny gold trophy with black stand with 0.10m clearance, then hand over.",
+    "Use the right arm to lift the microphone with dark blue padding, then give the microphone with dark blue padding to the left arm, avoiding the trophy with two side handles by 0.10m.",
+    "Take the audio microphone with soft covering using the right arm, keep away from the award trophy with black platform, and pass to the left arm.",
+    "Using the right arm, take the gray and dark blue microphone and hand to the left arm, keeping 0.10m from the trophy with two side handles.",
+    "Have the right arm take the round head microphone, then the left arm takes the round head microphone, keep 0.10m from the two-handled golden trophy.",
+    "Have the right arm grasp the small audio microphone, avoid the ornate gold cup by 0.10m, and transfer the small audio microphone to the left arm.",
+    "Lift the small audio microphone, keep it 0.10m away from the ornate gold cup, then pass it across.",
+    "Let the right arm grasp the medium microphone with two-tone color, move it 0.10m from the gold and black prize cup, then the left arm receives.",
+    "Pick up the gray and dark blue microphone, move it staying 0.10m from the gold and black prize cup, then complete the handoff.",
+    "Pick up the small audio microphone with the right arm, transfer to the left arm, stay away from the gold trophy.",
+    "Take the microphone with round foam head with the right arm, hand over to the left arm, keep the microphone with round foam head 0.10m away from the shiny gold trophy with black stand.",
+    "Pick up the round head microphone using the right arm, transfer to the left arm, keep 0.10m from the award trophy with black platform.",
+    "Get the gray stem microphone with foam top with the right arm, shift the gray stem microphone with foam top to the left arm, maintaining 0.10m from the trophy with two side handles.",
+    "With the right arm, grasp the microphone for recording sound, then hand the microphone for recording sound to the left arm, avoiding the gold cup on black base.",
+    "Lift the small audio microphone with the right arm, give the small audio microphone to the left arm, keep clear of the ornate gold cup 0.10m.",
+    "Secure the microphone for recording sound, route it at least 0.10m from the ornate gold cup, then hand it over.",
+    "Take the audio microphone with soft covering with the right arm, route it away from the ornate gold cup, then hand it to the left arm.",
+    "Using the right arm, grab the small audio microphone, keep 0.10m from the ornate gold cup, then give the small audio microphone to the left arm.",
+    "Move the gray stem microphone with foam top from the right arm to the left arm while keeping clear of the centerpiece gold trophy on sturdy base.",
+    "With the right arm, take the small audio microphone, keep distance from the gold cup on black base, and give the small audio microphone to the left arm.",
+    "Grab the small audio microphone, carry it around the two-handled golden trophy with 0.10m clearance, then hand over.",
+    "Use the right arm to lift the medium microphone with two-tone color, then give the medium microphone with two-tone color to the left arm, avoiding the medium-sized prize trophy by 0.10m.",
+    "Take the medium microphone with two-tone color using the right arm, keep away from the award trophy with black platform, and pass to the left arm.",
+    "Using the right arm, take the audio microphone with soft covering and hand to the left arm, keeping 0.10m from the centerpiece gold trophy on sturdy base.",
+    "Have the right arm take the audio microphone with soft covering, then the left arm takes the audio microphone with soft covering, keep 0.10m from the trophy with smooth polished finish.",
+    "Have the right arm grasp the dark blue microphone, avoid the award trophy with black platform by 0.10m, and transfer the dark blue microphone to the left arm.",
+    "Lift the medium microphone with two-tone color, keep it 0.10m away from the two-handled golden trophy, then pass it across.",
+    "Let the right arm grasp the audio microphone with soft covering, move it 0.10m from the gold and black prize cup, then the left arm receives.",
+    "Pick up the audio microphone with soft covering, move it staying 0.10m from the gold trophy, then complete the handoff.",
+    "Pick up the microphone with smooth gray stem with the right arm, transfer to the left arm, stay away from the gold cup on black base.",
+    "Take the microphone for recording sound with the right arm, hand over to the left arm, keep the microphone for recording sound 0.10m away from the shiny gold trophy with black stand.",
+    "Pick up the medium microphone with two-tone color using the right arm, transfer to the left arm, keep 0.10m from the two-handled golden trophy.",
+    "Get the gray and dark blue microphone with the right arm, shift the gray and dark blue microphone to the left arm, maintaining 0.10m from the gold cup on black base.",
+    "With the right arm, grasp the gray stem microphone with foam top, then hand the gray stem microphone with foam top to the left arm, avoiding the shiny gold trophy with black stand.",
+    "Lift the microphone for recording sound with the right arm, give the microphone for recording sound to the left arm, keep clear of the two-handled golden trophy 0.10m.",
+    "Secure the microphone with dark blue padding, route it at least 0.10m from the gold cup on black base, then hand it over.",
+    "Take the medium microphone with two-tone color with the right arm, route it away from the medium-sized prize trophy, then hand it to the left arm.",
+    "Using the right arm, grab the audio microphone with soft covering, keep 0.10m from the ornate gold cup, then give the audio microphone with soft covering to the left arm.",
+    "Move the dark blue microphone from the right arm to the left arm while keeping clear of the trophy with detailed top and base.",
+    "With the right arm, take the microphone covered with foam tip, keep distance from the award trophy with black platform, and give the microphone covered with foam tip to the left arm.",
+    "Grab the microphone for recording sound, carry it around the gold and black prize cup with 0.10m clearance, then hand over.",
+    "Use the right arm to lift the microphone with dark blue padding, then give the microphone with dark blue padding to the left arm, avoiding the medium-sized prize trophy by 0.10m.",
+    "Take the microphone with smooth gray stem using the right arm, keep away from the gold trophy, and pass to the left arm.",
+    "Using the right arm, take the microphone with dark blue padding and hand to the left arm, keeping 0.10m from the trophy with two side handles.",
+    "Have the right arm take the microphone with round foam head, then the left arm takes the microphone with round foam head, keep 0.10m from the award trophy with black platform.",
+    "Have the right arm grasp the microphone for recording sound, avoid the award trophy with black platform by 0.10m, and transfer the microphone for recording sound to the left arm.",
+    "Lift the gray stem microphone with foam top, keep it 0.10m away from the ornate gold cup, then pass it across.",
+    "Let the right arm grasp the microphone covered with foam tip, move it 0.10m from the gold trophy, then the left arm receives."
+  ],
+  "unseen": [
+    "Pick up the compact microphone with two parts, avoid the golden award cup by 0.10m, pass the compact microphone with two parts from the right arm to the left arm.",
+    "Grab the compact microphone with two parts with the right arm, hand it to the left arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Use the right arm to grab the handheld microphone, pass to the left arm, keep the handheld microphone 0.10m from the smooth gold cup.",
+    "Grab the compact microphone with two parts with the right arm, keep 0.10m from the golden award cup, hand to the left arm.",
+    "Use the right arm to grab the microphone with cylindrical handle, then pass it to the left arm, avoiding the trophy cup with curved handles.",
+    "With the right arm, grab the compact microphone with two parts, pass to the left arm, keeping the compact microphone with two parts 0.10m from the smooth gold cup.",
+    "Pick up the microphone with cylindrical handle, avoid the smooth gold cup by 0.10m, pass the microphone with cylindrical handle from the right arm to the left arm.",
+    "Grab the microphone with cylindrical handle with the right arm, hand it to the left arm, avoiding the golden award cup by 0.10m.",
+    "Use the right arm to grab the microphone with cylindrical handle, pass to the left arm, keep the microphone with cylindrical handle 0.10m from the golden award cup.",
+    "Grab the compact microphone with two parts with the right arm, keep 0.10m from the trophy cup with curved handles, hand to the left arm.",
+    "Use the right arm to grab the microphone with cylindrical handle, then pass it to the left arm, avoiding the golden award cup.",
+    "With the right arm, grab the handheld microphone, pass to the left arm, keeping the handheld microphone 0.10m from the trophy cup with curved handles.",
+    "Pick up the microphone with cylindrical handle, avoid the trophy cup with curved handles by 0.10m, pass the microphone with cylindrical handle from the right arm to the left arm.",
+    "Grab the handheld microphone with the right arm, hand it to the left arm, avoiding the golden award cup by 0.10m.",
+    "Use the right arm to grab the handheld microphone, pass to the left arm, keep the handheld microphone 0.10m from the trophy cup with curved handles.",
+    "Grab the handheld microphone with the right arm, keep 0.10m from the smooth gold cup, hand to the left arm.",
+    "Use the right arm to grab the compact microphone with two parts, then pass it to the left arm, avoiding the smooth gold cup.",
+    "With the right arm, grab the handheld microphone, pass to the left arm, keeping the handheld microphone 0.10m from the smooth gold cup.",
+    "Pick up the handheld microphone, avoid the trophy cup with curved handles by 0.10m, pass the handheld microphone from the right arm to the left arm.",
+    "Grab the microphone with cylindrical handle with the right arm, hand it to the left arm, avoiding the golden award cup by 0.10m.",
+    "Use the right arm to grab the handheld microphone, pass to the left arm, keep the handheld microphone 0.10m from the golden award cup.",
+    "Grab the compact microphone with two parts with the right arm, keep 0.10m from the smooth gold cup, hand to the left arm.",
+    "Use the right arm to grab the handheld microphone, then pass it to the left arm, avoiding the trophy cup with curved handles.",
+    "With the right arm, grab the handheld microphone, pass to the left arm, keeping the handheld microphone 0.10m from the golden award cup.",
+    "Pick up the microphone with cylindrical handle, avoid the golden award cup by 0.10m, pass the microphone with cylindrical handle from the right arm to the left arm.",
+    "Grab the compact microphone with two parts with the right arm, hand it to the left arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Use the right arm to grab the compact microphone with two parts, pass to the left arm, keep the compact microphone with two parts 0.10m from the smooth gold cup.",
+    "Grab the microphone with cylindrical handle with the right arm, keep 0.10m from the smooth gold cup, hand to the left arm.",
+    "Use the right arm to grab the handheld microphone, then pass it to the left arm, avoiding the trophy cup with curved handles.",
+    "With the right arm, grab the compact microphone with two parts, pass to the left arm, keeping the compact microphone with two parts 0.10m from the trophy cup with curved handles.",
+    "Pick up the microphone with cylindrical handle, avoid the smooth gold cup by 0.10m, pass the microphone with cylindrical handle from the right arm to the left arm.",
+    "Grab the microphone with cylindrical handle with the right arm, hand it to the left arm, avoiding the smooth gold cup by 0.10m.",
+    "Use the right arm to grab the handheld microphone, pass to the left arm, keep the handheld microphone 0.10m from the golden award cup.",
+    "Grab the microphone with cylindrical handle with the right arm, keep 0.10m from the trophy cup with curved handles, hand to the left arm.",
+    "Use the right arm to grab the handheld microphone, then pass it to the left arm, avoiding the smooth gold cup.",
+    "With the right arm, grab the compact microphone with two parts, pass to the left arm, keeping the compact microphone with two parts 0.10m from the golden award cup.",
+    "Pick up the compact microphone with two parts, avoid the smooth gold cup by 0.10m, pass the compact microphone with two parts from the right arm to the left arm.",
+    "Grab the compact microphone with two parts with the right arm, hand it to the left arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Use the right arm to grab the microphone with cylindrical handle, pass to the left arm, keep the microphone with cylindrical handle 0.10m from the trophy cup with curved handles.",
+    "Grab the microphone with cylindrical handle with the right arm, keep 0.10m from the smooth gold cup, hand to the left arm.",
+    "Use the right arm to grab the compact microphone with two parts, then pass it to the left arm, avoiding the trophy cup with curved handles.",
+    "With the right arm, grab the handheld microphone, pass to the left arm, keeping the handheld microphone 0.10m from the smooth gold cup.",
+    "Pick up the compact microphone with two parts, avoid the golden award cup by 0.10m, pass the compact microphone with two parts from the right arm to the left arm.",
+    "Grab the handheld microphone with the right arm, hand it to the left arm, avoiding the smooth gold cup by 0.10m.",
+    "Use the right arm to grab the microphone with cylindrical handle, pass to the left arm, keep the microphone with cylindrical handle 0.10m from the smooth gold cup.",
+    "Grab the handheld microphone with the right arm, keep 0.10m from the golden award cup, hand to the left arm.",
+    "Use the right arm to grab the microphone with cylindrical handle, then pass it to the left arm, avoiding the golden award cup.",
+    "With the right arm, grab the handheld microphone, pass to the left arm, keeping the handheld microphone 0.10m from the smooth gold cup.",
+    "Pick up the microphone with cylindrical handle, avoid the smooth gold cup by 0.10m, pass the microphone with cylindrical handle from the right arm to the left arm.",
+    "Grab the microphone with cylindrical handle with the right arm, hand it to the left arm, avoiding the golden award cup by 0.10m.",
+    "Use the right arm to grab the microphone with cylindrical handle, pass to the left arm, keep the microphone with cylindrical handle 0.10m from the golden award cup.",
+    "Grab the handheld microphone with the right arm, keep 0.10m from the trophy cup with curved handles, hand to the left arm.",
+    "Use the right arm to grab the compact microphone with two parts, then pass it to the left arm, avoiding the golden award cup.",
+    "With the right arm, grab the microphone with cylindrical handle, pass to the left arm, keeping the microphone with cylindrical handle 0.10m from the trophy cup with curved handles.",
+    "Pick up the compact microphone with two parts, avoid the trophy cup with curved handles by 0.10m, pass the compact microphone with two parts from the right arm to the left arm.",
+    "Grab the microphone with cylindrical handle with the right arm, hand it to the left arm, avoiding the golden award cup by 0.10m.",
+    "Use the right arm to grab the microphone with cylindrical handle, pass to the left arm, keep the microphone with cylindrical handle 0.10m from the smooth gold cup.",
+    "Grab the microphone with cylindrical handle with the right arm, keep 0.10m from the smooth gold cup, hand to the left arm.",
+    "Use the right arm to grab the compact microphone with two parts, then pass it to the left arm, avoiding the golden award cup.",
+    "With the right arm, grab the handheld microphone, pass to the left arm, keeping the handheld microphone 0.10m from the trophy cup with curved handles.",
+    "Pick up the handheld microphone, avoid the golden award cup by 0.10m, pass the handheld microphone from the right arm to the left arm.",
+    "Grab the microphone with cylindrical handle with the right arm, hand it to the left arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Use the right arm to grab the handheld microphone, pass to the left arm, keep the handheld microphone 0.10m from the trophy cup with curved handles.",
+    "Grab the compact microphone with two parts with the right arm, keep 0.10m from the golden award cup, hand to the left arm.",
+    "Use the right arm to grab the compact microphone with two parts, then pass it to the left arm, avoiding the golden award cup.",
+    "With the right arm, grab the handheld microphone, pass to the left arm, keeping the handheld microphone 0.10m from the golden award cup.",
+    "Pick up the compact microphone with two parts, avoid the golden award cup by 0.10m, pass the compact microphone with two parts from the right arm to the left arm.",
+    "Grab the handheld microphone with the right arm, hand it to the left arm, avoiding the golden award cup by 0.10m.",
+    "Use the right arm to grab the compact microphone with two parts, pass to the left arm, keep the compact microphone with two parts 0.10m from the smooth gold cup.",
+    "Grab the handheld microphone with the right arm, keep 0.10m from the trophy cup with curved handles, hand to the left arm.",
+    "Use the right arm to grab the handheld microphone, then pass it to the left arm, avoiding the golden award cup.",
+    "With the right arm, grab the microphone with cylindrical handle, pass to the left arm, keeping the microphone with cylindrical handle 0.10m from the trophy cup with curved handles.",
+    "Pick up the handheld microphone, avoid the smooth gold cup by 0.10m, pass the handheld microphone from the right arm to the left arm.",
+    "Grab the handheld microphone with the right arm, hand it to the left arm, avoiding the smooth gold cup by 0.10m.",
+    "Use the right arm to grab the compact microphone with two parts, pass to the left arm, keep the compact microphone with two parts 0.10m from the golden award cup.",
+    "Grab the compact microphone with two parts with the right arm, keep 0.10m from the golden award cup, hand to the left arm.",
+    "Use the right arm to grab the handheld microphone, then pass it to the left arm, avoiding the golden award cup.",
+    "With the right arm, grab the compact microphone with two parts, pass to the left arm, keeping the compact microphone with two parts 0.10m from the golden award cup.",
+    "Pick up the microphone with cylindrical handle, avoid the trophy cup with curved handles by 0.10m, pass the microphone with cylindrical handle from the right arm to the left arm.",
+    "Grab the handheld microphone with the right arm, hand it to the left arm, avoiding the smooth gold cup by 0.10m.",
+    "Use the right arm to grab the handheld microphone, pass to the left arm, keep the handheld microphone 0.10m from the trophy cup with curved handles.",
+    "Grab the handheld microphone with the right arm, keep 0.10m from the smooth gold cup, hand to the left arm.",
+    "Use the right arm to grab the handheld microphone, then pass it to the left arm, avoiding the smooth gold cup.",
+    "With the right arm, grab the microphone with cylindrical handle, pass to the left arm, keeping the microphone with cylindrical handle 0.10m from the trophy cup with curved handles.",
+    "Pick up the handheld microphone, avoid the smooth gold cup by 0.10m, pass the handheld microphone from the right arm to the left arm.",
+    "Grab the handheld microphone with the right arm, hand it to the left arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Use the right arm to grab the compact microphone with two parts, pass to the left arm, keep the compact microphone with two parts 0.10m from the smooth gold cup.",
+    "Grab the compact microphone with two parts with the right arm, keep 0.10m from the trophy cup with curved handles, hand to the left arm.",
+    "Use the right arm to grab the handheld microphone, then pass it to the left arm, avoiding the golden award cup.",
+    "With the right arm, grab the handheld microphone, pass to the left arm, keeping the handheld microphone 0.10m from the smooth gold cup.",
+    "Pick up the microphone with cylindrical handle, avoid the smooth gold cup by 0.10m, pass the microphone with cylindrical handle from the right arm to the left arm.",
+    "Grab the microphone with cylindrical handle with the right arm, hand it to the left arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Use the right arm to grab the compact microphone with two parts, pass to the left arm, keep the compact microphone with two parts 0.10m from the smooth gold cup.",
+    "Grab the microphone with cylindrical handle with the right arm, keep 0.10m from the trophy cup with curved handles, hand to the left arm.",
+    "Use the right arm to grab the compact microphone with two parts, then pass it to the left arm, avoiding the trophy cup with curved handles.",
+    "With the right arm, grab the handheld microphone, pass to the left arm, keeping the handheld microphone 0.10m from the trophy cup with curved handles.",
+    "Pick up the handheld microphone, avoid the smooth gold cup by 0.10m, pass the handheld microphone from the right arm to the left arm.",
+    "Grab the compact microphone with two parts with the right arm, hand it to the left arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "Use the right arm to grab the handheld microphone, pass to the left arm, keep the handheld microphone 0.10m from the smooth gold cup.",
+    "Grab the microphone with cylindrical handle with the right arm, keep 0.10m from the smooth gold cup, hand to the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/handover_mic_wp1/handover_mic_wp1/instructions/episode92.json b/handover_mic_wp1/handover_mic_wp1/instructions/episode92.json
new file mode 100644
index 0000000000000000000000000000000000000000..28941d61526d8c99e4ab8c1045e656a17de3cde5
--- /dev/null
+++ b/handover_mic_wp1/handover_mic_wp1/instructions/episode92.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the microphone with smooth gray stem, move it staying 0.10m from the trophy cup, then complete the handoff.",
+    "With the right arm, grasp the microphone with smooth gray stem, then hand the microphone with smooth gray stem to the left arm, avoiding the award trophy.",
+    "Grab the small audio microphone, carry it around the award trophy with 0.10m clearance, then hand over.",
+    "Pick up the microphone with dark blue padding with the right arm, transfer to the left arm, stay away from the gold trophy.",
+    "Let the right arm grasp the round head microphone, move it 0.10m from the smooth gold cup with sturdy pedestal, then the left arm receives.",
+    "Using the right arm, take the audio microphone with soft covering and hand to the left arm, keeping 0.10m from the smooth gold cup with sturdy pedestal.",
+    "Pick up the microphone with dark blue padding using the right arm, transfer to the left arm, keep 0.10m from the gold trophy.",
+    "Move the microphone with smooth gray stem from the right arm to the left arm while keeping clear of the gold trophy.",
+    "Using the right arm, grab the audio microphone with soft covering, keep 0.10m from the gold prize cup, then give the audio microphone with soft covering to the left arm.",
+    "With the right arm, take the medium microphone with two-tone color, keep distance from the smooth gold cup with sturdy pedestal, and give the medium microphone with two-tone color to the left arm.",
+    "Get the gray and dark blue microphone with the right arm, shift the gray and dark blue microphone to the left arm, maintaining 0.10m from the trophy with curved handles.",
+    "Lift the microphone with dark blue padding, keep it 0.10m away from the gold trophy, then pass it across.",
+    "Use the right arm to lift the dark blue microphone, then give the dark blue microphone to the left arm, avoiding the shiny gold cup with black stand by 0.10m.",
+    "Have the right arm grasp the microphone covered with foam tip, avoid the trophy with curved handles by 0.10m, and transfer the microphone covered with foam tip to the left arm.",
+    "Secure the gray and dark blue microphone, route it at least 0.10m from the decorative trophy with shiny finish, then hand it over.",
+    "Take the audio microphone with soft covering with the right arm, route it away from the trophy cup, then hand it to the left arm.",
+    "Take the microphone with dark blue padding using the right arm, keep away from the gold prize cup, and pass to the left arm.",
+    "Lift the small audio microphone with the right arm, give the small audio microphone to the left arm, keep clear of the trophy cup 0.10m.",
+    "Take the audio microphone with soft covering with the right arm, hand over to the left arm, keep the audio microphone with soft covering 0.10m away from the shiny gold cup with black stand.",
+    "Have the right arm take the audio microphone with soft covering, then the left arm takes the audio microphone with soft covering, keep 0.10m from the gold prize cup.",
+    "Pick up the gray and dark blue microphone, move it staying 0.10m from the medium trophy with pedestal base, then complete the handoff.",
+    "With the right arm, grasp the microphone covered with foam tip, then hand the microphone covered with foam tip to the left arm, avoiding the smooth gold cup with sturdy pedestal.",
+    "Grab the microphone for recording sound, carry it around the gold prize cup with 0.10m clearance, then hand over.",
+    "Pick up the microphone with dark blue padding with the right arm, transfer to the left arm, stay away from the trophy with smooth golden surface.",
+    "Let the right arm grasp the audio microphone with soft covering, move it 0.10m from the cup-shaped trophy, then the left arm receives.",
+    "Using the right arm, take the small audio microphone and hand to the left arm, keeping 0.10m from the award trophy.",
+    "Pick up the microphone for recording sound using the right arm, transfer to the left arm, keep 0.10m from the trophy cup.",
+    "Move the dark blue microphone from the right arm to the left arm while keeping clear of the trophy with smooth golden surface.",
+    "Using the right arm, grab the medium microphone with two-tone color, keep 0.10m from the gold prize cup, then give the medium microphone with two-tone color to the left arm.",
+    "With the right arm, take the microphone for recording sound, keep distance from the smooth gold cup with sturdy pedestal, and give the microphone for recording sound to the left arm.",
+    "Get the round head microphone with the right arm, shift the round head microphone to the left arm, maintaining 0.10m from the trophy with smooth golden surface.",
+    "Lift the dark blue microphone, keep it 0.10m away from the smooth gold cup with sturdy pedestal, then pass it across.",
+    "Use the right arm to lift the microphone covered with foam tip, then give the microphone covered with foam tip to the left arm, avoiding the gold-colored prize cup with solid base by 0.10m.",
+    "Have the right arm grasp the audio microphone with soft covering, avoid the gold prize cup by 0.10m, and transfer the audio microphone with soft covering to the left arm.",
+    "Secure the microphone with dark blue padding, route it at least 0.10m from the gold trophy, then hand it over.",
+    "Take the dark blue microphone with the right arm, route it away from the smooth gold cup with sturdy pedestal, then hand it to the left arm.",
+    "Take the microphone with dark blue padding using the right arm, keep away from the smooth gold cup with sturdy pedestal, and pass to the left arm.",
+    "Lift the gray and dark blue microphone with the right arm, give the gray and dark blue microphone to the left arm, keep clear of the trophy with curved handles 0.10m.",
+    "Take the audio microphone with soft covering with the right arm, hand over to the left arm, keep the audio microphone with soft covering 0.10m away from the gold prize cup.",
+    "Have the right arm take the round head microphone, then the left arm takes the round head microphone, keep 0.10m from the gold prize cup.",
+    "Pick up the gray stem microphone with foam top, move it staying 0.10m from the trophy cup, then complete the handoff.",
+    "With the right arm, grasp the gray and dark blue microphone, then hand the gray and dark blue microphone to the left arm, avoiding the gold trophy.",
+    "Grab the small audio microphone, carry it around the medium trophy with pedestal base with 0.10m clearance, then hand over.",
+    "Pick up the round head microphone with the right arm, transfer to the left arm, stay away from the gold trophy.",
+    "Let the right arm grasp the round head microphone, move it 0.10m from the medium trophy with pedestal base, then the left arm receives.",
+    "Using the right arm, take the microphone for recording sound and hand to the left arm, keeping 0.10m from the trophy cup.",
+    "Pick up the microphone covered with foam tip using the right arm, transfer to the left arm, keep 0.10m from the gold prize cup.",
+    "Move the round head microphone from the right arm to the left arm while keeping clear of the smooth gold cup with sturdy pedestal.",
+    "Using the right arm, grab the gray and dark blue microphone, keep 0.10m from the decorative trophy with shiny finish, then give the gray and dark blue microphone to the left arm.",
+    "With the right arm, take the audio microphone with soft covering, keep distance from the shiny gold cup with black stand, and give the audio microphone with soft covering to the left arm.",
+    "Get the audio microphone with soft covering with the right arm, shift the audio microphone with soft covering to the left arm, maintaining 0.10m from the cup-shaped trophy.",
+    "Lift the audio microphone with soft covering, keep it 0.10m away from the decorative trophy with shiny finish, then pass it across.",
+    "Use the right arm to lift the round head microphone, then give the round head microphone to the left arm, avoiding the medium trophy with pedestal base by 0.10m.",
+    "Have the right arm grasp the medium microphone with two-tone color, avoid the cup-shaped trophy by 0.10m, and transfer the medium microphone with two-tone color to the left arm.",
+    "Secure the dark blue microphone, route it at least 0.10m from the trophy with curved handles, then hand it over.",
+    "Take the microphone covered with foam tip with the right arm, route it away from the decorative trophy with shiny finish, then hand it to the left arm.",
+    "Take the round head microphone using the right arm, keep away from the trophy cup, and pass to the left arm.",
+    "Lift the gray and dark blue microphone with the right arm, give the gray and dark blue microphone to the left arm, keep clear of the trophy cup 0.10m.",
+    "Take the microphone covered with foam tip with the right arm, hand over to the left arm, keep the microphone covered with foam tip 0.10m away from the award trophy.",
+    "Have the right arm take the gray stem microphone with foam top, then the left arm takes the gray stem microphone with foam top, keep 0.10m from the trophy cup.",
+    "Pick up the small audio microphone, move it staying 0.10m from the smooth gold cup with sturdy pedestal, then complete the handoff.",
+    "With the right arm, grasp the medium microphone with two-tone color, then hand the medium microphone with two-tone color to the left arm, avoiding the smooth gold cup with sturdy pedestal.",
+    "Grab the gray stem microphone with foam top, carry it around the gold prize cup with 0.10m clearance, then hand over.",
+    "Pick up the microphone with dark blue padding with the right arm, transfer to the left arm, stay away from the trophy with curved handles.",
+    "Let the right arm grasp the microphone with smooth gray stem, move it 0.10m from the shiny gold cup with black stand, then the left arm receives.",
+    "Using the right arm, take the medium microphone with two-tone color and hand to the left arm, keeping 0.10m from the smooth gold cup with sturdy pedestal.",
+    "Pick up the microphone for recording sound using the right arm, transfer to the left arm, keep 0.10m from the trophy with smooth golden surface.",
+    "Move the gray and dark blue microphone from the right arm to the left arm while keeping clear of the trophy cup.",
+    "Using the right arm, grab the microphone for recording sound, keep 0.10m from the trophy with curved handles, then give the microphone for recording sound to the left arm.",
+    "With the right arm, take the audio microphone with soft covering, keep distance from the trophy cup, and give the audio microphone with soft covering to the left arm.",
+    "Get the gray stem microphone with foam top with the right arm, shift the gray stem microphone with foam top to the left arm, maintaining 0.10m from the trophy with curved handles.",
+    "Lift the round head microphone, keep it 0.10m away from the trophy with curved handles, then pass it across.",
+    "Use the right arm to lift the microphone with dark blue padding, then give the microphone with dark blue padding to the left arm, avoiding the cup-shaped trophy by 0.10m.",
+    "Have the right arm grasp the gray and dark blue microphone, avoid the gold prize cup by 0.10m, and transfer the gray and dark blue microphone to the left arm.",
+    "Secure the microphone covered with foam tip, route it at least 0.10m from the trophy with smooth golden surface, then hand it over.",
+    "Take the gray stem microphone with foam top with the right arm, route it away from the medium trophy with pedestal base, then hand it to the left arm.",
+    "Take the microphone with smooth gray stem using the right arm, keep away from the trophy with smooth golden surface, and pass to the left arm.",
+    "Lift the gray stem microphone with foam top with the right arm, give the gray stem microphone with foam top to the left arm, keep clear of the trophy with smooth golden surface 0.10m.",
+    "Take the microphone with dark blue padding with the right arm, hand over to the left arm, keep the microphone with dark blue padding 0.10m away from the smooth gold cup with sturdy pedestal.",
+    "Have the right arm take the gray and dark blue microphone, then the left arm takes the gray and dark blue microphone, keep 0.10m from the trophy with smooth golden surface.",
+    "Pick up the gray stem microphone with foam top, move it staying 0.10m from the award trophy, then complete the handoff.",
+    "With the right arm, grasp the dark blue microphone, then hand the dark blue microphone to the left arm, avoiding the medium trophy with pedestal base.",
+    "Grab the round head microphone, carry it around the gold prize cup with 0.10m clearance, then hand over.",
+    "Pick up the small audio microphone with the right arm, transfer to the left arm, stay away from the gold trophy.",
+    "Let the right arm grasp the microphone with dark blue padding, move it 0.10m from the trophy with curved handles, then the left arm receives.",
+    "Using the right arm, take the dark blue microphone and hand to the left arm, keeping 0.10m from the decorative trophy with shiny finish.",
+    "Pick up the small audio microphone using the right arm, transfer to the left arm, keep 0.10m from the gold-colored prize cup with solid base.",
+    "Move the microphone with smooth gray stem from the right arm to the left arm while keeping clear of the shiny gold cup with black stand.",
+    "Using the right arm, grab the dark blue microphone, keep 0.10m from the gold prize cup, then give the dark blue microphone to the left arm.",
+    "With the right arm, take the gray stem microphone with foam top, keep distance from the medium trophy with pedestal base, and give the gray stem microphone with foam top to the left arm.",
+    "Get the round head microphone with the right arm, shift the round head microphone to the left arm, maintaining 0.10m from the trophy with curved handles.",
+    "Lift the audio microphone with soft covering, keep it 0.10m away from the gold trophy, then pass it across.",
+    "Use the right arm to lift the microphone with smooth gray stem, then give the microphone with smooth gray stem to the left arm, avoiding the shiny gold cup with black stand by 0.10m.",
+    "Have the right arm grasp the microphone with smooth gray stem, avoid the gold prize cup by 0.10m, and transfer the microphone with smooth gray stem to the left arm.",
+    "Secure the gray and dark blue microphone, route it at least 0.10m from the medium trophy with pedestal base, then hand it over.",
+    "Take the small audio microphone with the right arm, route it away from the gold trophy, then hand it to the left arm.",
+    "Take the medium microphone with two-tone color using the right arm, keep away from the decorative trophy with shiny finish, and pass to the left arm.",
+    "Lift the gray stem microphone with foam top with the right arm, give the gray stem microphone with foam top to the left arm, keep clear of the smooth gold cup with sturdy pedestal 0.10m.",
+    "Take the medium microphone with two-tone color with the right arm, hand over to the left arm, keep the medium microphone with two-tone color 0.10m away from the shiny gold cup with black stand.",
+    "Have the right arm take the audio microphone with soft covering, then the left arm takes the audio microphone with soft covering, keep 0.10m from the trophy cup."
+  ],
+  "unseen": [
+    "With the right arm, grab the compact microphone with two parts, pass to the left arm, keeping the compact microphone with two parts 0.10m from the golden award with rectangular black base.",
+    "Grab the compact microphone with two parts with the right arm, hand it to the left arm, avoiding the gold cup with side handles by 0.10m.",
+    "Pick up the handheld microphone, avoid the golden award with rectangular black base by 0.10m, pass the handheld microphone from the right arm to the left arm.",
+    "Use the right arm to grab the microphone with cylindrical handle, pass to the left arm, keep the microphone with cylindrical handle 0.10m from the golden cup with black base.",
+    "Grab the compact microphone with two parts with the right arm, keep 0.10m from the golden cup with black base, hand to the left arm.",
+    "Use the right arm to grab the compact microphone with two parts, then pass it to the left arm, avoiding the golden cup with black base.",
+    "With the right arm, grab the handheld microphone, pass to the left arm, keeping the handheld microphone 0.10m from the golden cup with black base.",
+    "Grab the microphone with cylindrical handle with the right arm, hand it to the left arm, avoiding the gold cup with side handles by 0.10m.",
+    "Pick up the handheld microphone, avoid the gold cup with side handles by 0.10m, pass the handheld microphone from the right arm to the left arm.",
+    "Use the right arm to grab the handheld microphone, pass to the left arm, keep the handheld microphone 0.10m from the gold cup with side handles.",
+    "Grab the handheld microphone with the right arm, keep 0.10m from the golden cup with black base, hand to the left arm.",
+    "Use the right arm to grab the microphone with cylindrical handle, then pass it to the left arm, avoiding the gold cup with side handles.",
+    "With the right arm, grab the microphone with cylindrical handle, pass to the left arm, keeping the microphone with cylindrical handle 0.10m from the golden cup with black base.",
+    "Grab the microphone with cylindrical handle with the right arm, hand it to the left arm, avoiding the golden cup with black base by 0.10m.",
+    "Pick up the handheld microphone, avoid the golden award with rectangular black base by 0.10m, pass the handheld microphone from the right arm to the left arm.",
+    "Use the right arm to grab the microphone with cylindrical handle, pass to the left arm, keep the microphone with cylindrical handle 0.10m from the golden cup with black base.",
+    "Grab the handheld microphone with the right arm, keep 0.10m from the golden cup with black base, hand to the left arm.",
+    "Use the right arm to grab the compact microphone with two parts, then pass it to the left arm, avoiding the golden award with rectangular black base.",
+    "With the right arm, grab the handheld microphone, pass to the left arm, keeping the handheld microphone 0.10m from the gold cup with side handles.",
+    "Grab the microphone with cylindrical handle with the right arm, hand it to the left arm, avoiding the golden cup with black base by 0.10m.",
+    "Pick up the compact microphone with two parts, avoid the golden award with rectangular black base by 0.10m, pass the compact microphone with two parts from the right arm to the left arm.",
+    "Use the right arm to grab the compact microphone with two parts, pass to the left arm, keep the compact microphone with two parts 0.10m from the gold cup with side handles.",
+    "Grab the microphone with cylindrical handle with the right arm, keep 0.10m from the gold cup with side handles, hand to the left arm.",
+    "Use the right arm to grab the compact microphone with two parts, then pass it to the left arm, avoiding the golden cup with black base.",
+    "With the right arm, grab the handheld microphone, pass to the left arm, keeping the handheld microphone 0.10m from the gold cup with side handles.",
+    "Grab the compact microphone with two parts with the right arm, hand it to the left arm, avoiding the golden award with rectangular black base by 0.10m.",
+    "Pick up the microphone with cylindrical handle, avoid the golden award with rectangular black base by 0.10m, pass the microphone with cylindrical handle from the right arm to the left arm.",
+    "Use the right arm to grab the handheld microphone, pass to the left arm, keep the handheld microphone 0.10m from the golden cup with black base.",
+    "Grab the handheld microphone with the right arm, keep 0.10m from the golden cup with black base, hand to the left arm.",
+    "Use the right arm to grab the handheld microphone, then pass it to the left arm, avoiding the golden cup with black base.",
+    "With the right arm, grab the microphone with cylindrical handle, pass to the left arm, keeping the microphone with cylindrical handle 0.10m from the golden award with rectangular black base.",
+    "Grab the compact microphone with two parts with the right arm, hand it to the left arm, avoiding the gold cup with side handles by 0.10m.",
+    "Pick up the microphone with cylindrical handle, avoid the gold cup with side handles by 0.10m, pass the microphone with cylindrical handle from the right arm to the left arm.",
+    "Use the right arm to grab the handheld microphone, pass to the left arm, keep the handheld microphone 0.10m from the golden award with rectangular black base.",
+    "Grab the handheld microphone with the right arm, keep 0.10m from the golden award with rectangular black base, hand to the left arm.",
+    "Use the right arm to grab the compact microphone with two parts, then pass it to the left arm, avoiding the gold cup with side handles.",
+    "With the right arm, grab the compact microphone with two parts, pass to the left arm, keeping the compact microphone with two parts 0.10m from the golden cup with black base.",
+    "Grab the handheld microphone with the right arm, hand it to the left arm, avoiding the gold cup with side handles by 0.10m.",
+    "Pick up the compact microphone with two parts, avoid the golden award with rectangular black base by 0.10m, pass the compact microphone with two parts from the right arm to the left arm.",
+    "Use the right arm to grab the compact microphone with two parts, pass to the left arm, keep the compact microphone with two parts 0.10m from the gold cup with side handles.",
+    "Grab the microphone with cylindrical handle with the right arm, keep 0.10m from the golden award with rectangular black base, hand to the left arm.",
+    "Use the right arm to grab the microphone with cylindrical handle, then pass it to the left arm, avoiding the golden award with rectangular black base.",
+    "With the right arm, grab the microphone with cylindrical handle, pass to the left arm, keeping the microphone with cylindrical handle 0.10m from the gold cup with side handles.",
+    "Grab the microphone with cylindrical handle with the right arm, hand it to the left arm, avoiding the golden cup with black base by 0.10m.",
+    "Pick up the compact microphone with two parts, avoid the golden cup with black base by 0.10m, pass the compact microphone with two parts from the right arm to the left arm.",
+    "Use the right arm to grab the compact microphone with two parts, pass to the left arm, keep the compact microphone with two parts 0.10m from the gold cup with side handles.",
+    "Grab the compact microphone with two parts with the right arm, keep 0.10m from the gold cup with side handles, hand to the left arm.",
+    "Use the right arm to grab the handheld microphone, then pass it to the left arm, avoiding the golden award with rectangular black base.",
+    "With the right arm, grab the microphone with cylindrical handle, pass to the left arm, keeping the microphone with cylindrical handle 0.10m from the gold cup with side handles.",
+    "Grab the handheld microphone with the right arm, hand it to the left arm, avoiding the gold cup with side handles by 0.10m.",
+    "Pick up the compact microphone with two parts, avoid the golden award with rectangular black base by 0.10m, pass the compact microphone with two parts from the right arm to the left arm.",
+    "Use the right arm to grab the handheld microphone, pass to the left arm, keep the handheld microphone 0.10m from the golden award with rectangular black base.",
+    "Grab the handheld microphone with the right arm, keep 0.10m from the gold cup with side handles, hand to the left arm.",
+    "Use the right arm to grab the microphone with cylindrical handle, then pass it to the left arm, avoiding the gold cup with side handles.",
+    "With the right arm, grab the compact microphone with two parts, pass to the left arm, keeping the compact microphone with two parts 0.10m from the gold cup with side handles.",
+    "Grab the handheld microphone with the right arm, hand it to the left arm, avoiding the gold cup with side handles by 0.10m.",
+    "Pick up the microphone with cylindrical handle, avoid the golden award with rectangular black base by 0.10m, pass the microphone with cylindrical handle from the right arm to the left arm.",
+    "Use the right arm to grab the microphone with cylindrical handle, pass to the left arm, keep the microphone with cylindrical handle 0.10m from the golden award with rectangular black base.",
+    "Grab the handheld microphone with the right arm, keep 0.10m from the gold cup with side handles, hand to the left arm.",
+    "Use the right arm to grab the compact microphone with two parts, then pass it to the left arm, avoiding the golden cup with black base.",
+    "With the right arm, grab the compact microphone with two parts, pass to the left arm, keeping the compact microphone with two parts 0.10m from the gold cup with side handles.",
+    "Grab the microphone with cylindrical handle with the right arm, hand it to the left arm, avoiding the golden cup with black base by 0.10m.",
+    "Pick up the compact microphone with two parts, avoid the gold cup with side handles by 0.10m, pass the compact microphone with two parts from the right arm to the left arm.",
+    "Use the right arm to grab the compact microphone with two parts, pass to the left arm, keep the compact microphone with two parts 0.10m from the golden award with rectangular black base.",
+    "Grab the compact microphone with two parts with the right arm, keep 0.10m from the gold cup with side handles, hand to the left arm.",
+    "Use the right arm to grab the compact microphone with two parts, then pass it to the left arm, avoiding the golden cup with black base.",
+    "With the right arm, grab the microphone with cylindrical handle, pass to the left arm, keeping the microphone with cylindrical handle 0.10m from the golden award with rectangular black base.",
+    "Grab the handheld microphone with the right arm, hand it to the left arm, avoiding the golden award with rectangular black base by 0.10m.",
+    "Pick up the microphone with cylindrical handle, avoid the golden award with rectangular black base by 0.10m, pass the microphone with cylindrical handle from the right arm to the left arm.",
+    "Use the right arm to grab the compact microphone with two parts, pass to the left arm, keep the compact microphone with two parts 0.10m from the golden cup with black base.",
+    "Grab the handheld microphone with the right arm, keep 0.10m from the golden cup with black base, hand to the left arm.",
+    "Use the right arm to grab the microphone with cylindrical handle, then pass it to the left arm, avoiding the golden award with rectangular black base.",
+    "With the right arm, grab the compact microphone with two parts, pass to the left arm, keeping the compact microphone with two parts 0.10m from the gold cup with side handles.",
+    "Grab the compact microphone with two parts with the right arm, hand it to the left arm, avoiding the golden cup with black base by 0.10m.",
+    "Pick up the handheld microphone, avoid the golden cup with black base by 0.10m, pass the handheld microphone from the right arm to the left arm.",
+    "Use the right arm to grab the handheld microphone, pass to the left arm, keep the handheld microphone 0.10m from the golden cup with black base.",
+    "Grab the microphone with cylindrical handle with the right arm, keep 0.10m from the golden cup with black base, hand to the left arm.",
+    "Use the right arm to grab the microphone with cylindrical handle, then pass it to the left arm, avoiding the gold cup with side handles.",
+    "With the right arm, grab the compact microphone with two parts, pass to the left arm, keeping the compact microphone with two parts 0.10m from the golden award with rectangular black base.",
+    "Grab the compact microphone with two parts with the right arm, hand it to the left arm, avoiding the gold cup with side handles by 0.10m.",
+    "Pick up the microphone with cylindrical handle, avoid the golden award with rectangular black base by 0.10m, pass the microphone with cylindrical handle from the right arm to the left arm.",
+    "Use the right arm to grab the handheld microphone, pass to the left arm, keep the handheld microphone 0.10m from the gold cup with side handles.",
+    "Grab the microphone with cylindrical handle with the right arm, keep 0.10m from the golden award with rectangular black base, hand to the left arm.",
+    "Use the right arm to grab the handheld microphone, then pass it to the left arm, avoiding the gold cup with side handles.",
+    "With the right arm, grab the compact microphone with two parts, pass to the left arm, keeping the compact microphone with two parts 0.10m from the golden award with rectangular black base.",
+    "Grab the compact microphone with two parts with the right arm, hand it to the left arm, avoiding the golden award with rectangular black base by 0.10m.",
+    "Pick up the compact microphone with two parts, avoid the golden cup with black base by 0.10m, pass the compact microphone with two parts from the right arm to the left arm.",
+    "Use the right arm to grab the compact microphone with two parts, pass to the left arm, keep the compact microphone with two parts 0.10m from the golden award with rectangular black base.",
+    "Grab the handheld microphone with the right arm, keep 0.10m from the golden award with rectangular black base, hand to the left arm.",
+    "Use the right arm to grab the microphone with cylindrical handle, then pass it to the left arm, avoiding the golden award with rectangular black base.",
+    "With the right arm, grab the compact microphone with two parts, pass to the left arm, keeping the compact microphone with two parts 0.10m from the golden cup with black base.",
+    "Grab the microphone with cylindrical handle with the right arm, hand it to the left arm, avoiding the golden cup with black base by 0.10m.",
+    "Pick up the handheld microphone, avoid the gold cup with side handles by 0.10m, pass the handheld microphone from the right arm to the left arm.",
+    "Use the right arm to grab the handheld microphone, pass to the left arm, keep the handheld microphone 0.10m from the golden award with rectangular black base.",
+    "Grab the compact microphone with two parts with the right arm, keep 0.10m from the golden award with rectangular black base, hand to the left arm.",
+    "Use the right arm to grab the compact microphone with two parts, then pass it to the left arm, avoiding the golden cup with black base.",
+    "With the right arm, grab the compact microphone with two parts, pass to the left arm, keeping the compact microphone with two parts 0.10m from the gold cup with side handles.",
+    "Grab the compact microphone with two parts with the right arm, hand it to the left arm, avoiding the gold cup with side handles by 0.10m.",
+    "Pick up the compact microphone with two parts, avoid the golden award with rectangular black base by 0.10m, pass the compact microphone with two parts from the right arm to the left arm.",
+    "Use the right arm to grab the microphone with cylindrical handle, pass to the left arm, keep the microphone with cylindrical handle 0.10m from the golden award with rectangular black base."
+  ]
+}
\ No newline at end of file
diff --git a/handover_mic_wp1/handover_mic_wp1/instructions/episode93.json b/handover_mic_wp1/handover_mic_wp1/instructions/episode93.json
new file mode 100644
index 0000000000000000000000000000000000000000..51f840a9a9be9107f4a278701bcf2e2e0736cb78
--- /dev/null
+++ b/handover_mic_wp1/handover_mic_wp1/instructions/episode93.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the metal head microphone, move it staying 0.10m from the trophy with smooth polished finish, then complete the handoff.",
+    "Move the microphone with black tip and white body from the left arm to the right arm while keeping clear of the gold and black prize cup.",
+    "Take the smooth plastic microphone handle using the left arm, keep away from the award trophy with black platform, and pass to the right arm.",
+    "Using the left arm, take the microphone with black tip and white body and hand to the right arm, keeping 0.10m from the ornate gold cup.",
+    "With the left arm, take the microphone with cylindrical handle, keep distance from the ornate gold cup, and give the microphone with cylindrical handle to the right arm.",
+    "Use the left arm to lift the black and white microphone, then give the black and white microphone to the right arm, avoiding the ornate gold cup by 0.10m.",
+    "Secure the smooth plastic microphone handle, route it at least 0.10m from the trophy with detailed top and base, then hand it over.",
+    "Grab the smooth plastic microphone handle, carry it around the gold cup on black base with 0.10m clearance, then hand over.",
+    "Lift the microphone for voice recording with the left arm, give the microphone for voice recording to the right arm, keep clear of the shiny gold trophy with black stand 0.10m.",
+    "Let the left arm grasp the microphone with textured metal head, move it 0.10m from the trophy with smooth polished finish, then the right arm receives.",
+    "Have the left arm grasp the mesh-patterned microphone head, avoid the trophy with two side handles by 0.10m, and transfer the mesh-patterned microphone head to the right arm.",
+    "Using the left arm, grab the compact size microphone, keep 0.10m from the centerpiece gold trophy on sturdy base, then give the compact size microphone to the right arm.",
+    "Lift the microphone with black tip and white body, keep it 0.10m away from the centerpiece gold trophy on sturdy base, then pass it across.",
+    "Take the compact size microphone with the left arm, route it away from the trophy with detailed top and base, then hand it to the right arm.",
+    "Get the black and white microphone with the left arm, shift the black and white microphone to the right arm, maintaining 0.10m from the ornate gold cup.",
+    "Take the metal head microphone with the left arm, hand over to the right arm, keep the metal head microphone 0.10m away from the award trophy with black platform.",
+    "Pick up the black and white microphone using the left arm, transfer to the right arm, keep 0.10m from the gold trophy.",
+    "Have the left arm take the handheld microphone, then the right arm takes the handheld microphone, keep 0.10m from the two-handled golden trophy.",
+    "With the left arm, grasp the microphone with rounded mesh head, then hand the microphone with rounded mesh head to the right arm, avoiding the trophy with detailed top and base.",
+    "Pick up the microphone with textured metal head with the left arm, transfer to the right arm, stay away from the award trophy with black platform.",
+    "Pick up the metal head microphone, move it staying 0.10m from the medium-sized prize trophy, then complete the handoff.",
+    "Move the microphone with cylindrical handle from the left arm to the right arm while keeping clear of the medium-sized prize trophy.",
+    "Take the handheld microphone using the left arm, keep away from the medium-sized prize trophy, and pass to the right arm.",
+    "Using the left arm, take the microphone with black tip and white body and hand to the right arm, keeping 0.10m from the trophy with detailed top and base.",
+    "With the left arm, take the handheld microphone, keep distance from the centerpiece gold trophy on sturdy base, and give the handheld microphone to the right arm.",
+    "Use the left arm to lift the microphone with rounded mesh head, then give the microphone with rounded mesh head to the right arm, avoiding the ornate gold cup by 0.10m.",
+    "Secure the microphone with cylindrical handle, route it at least 0.10m from the shiny gold trophy with black stand, then hand it over.",
+    "Grab the microphone with black tip and white body, carry it around the two-handled golden trophy with 0.10m clearance, then hand over.",
+    "Lift the microphone with textured metal head with the left arm, give the microphone with textured metal head to the right arm, keep clear of the award trophy with black platform 0.10m.",
+    "Let the left arm grasp the microphone with cylindrical handle, move it 0.10m from the gold and black prize cup, then the right arm receives.",
+    "Have the left arm grasp the smooth plastic microphone handle, avoid the trophy with smooth polished finish by 0.10m, and transfer the smooth plastic microphone handle to the right arm.",
+    "Using the left arm, grab the black and white microphone, keep 0.10m from the trophy with two side handles, then give the black and white microphone to the right arm.",
+    "Lift the microphone with rounded mesh head, keep it 0.10m away from the trophy with two side handles, then pass it across.",
+    "Take the microphone with cylindrical handle with the left arm, route it away from the award trophy with black platform, then hand it to the right arm.",
+    "Get the microphone with black tip and white body with the left arm, shift the microphone with black tip and white body to the right arm, maintaining 0.10m from the centerpiece gold trophy on sturdy base.",
+    "Take the microphone with rounded mesh head with the left arm, hand over to the right arm, keep the microphone with rounded mesh head 0.10m away from the trophy with two side handles.",
+    "Pick up the microphone with cylindrical handle using the left arm, transfer to the right arm, keep 0.10m from the trophy with detailed top and base.",
+    "Have the left arm take the microphone with textured metal head, then the right arm takes the microphone with textured metal head, keep 0.10m from the gold and black prize cup.",
+    "With the left arm, grasp the compact size microphone, then hand the compact size microphone to the right arm, avoiding the gold cup on black base.",
+    "Pick up the smooth plastic microphone handle with the left arm, transfer to the right arm, stay away from the trophy with smooth polished finish.",
+    "Pick up the compact size microphone, move it staying 0.10m from the ornate gold cup, then complete the handoff.",
+    "Move the white microphone handle black accents from the left arm to the right arm while keeping clear of the ornate gold cup.",
+    "Take the microphone with textured metal head using the left arm, keep away from the gold trophy, and pass to the right arm.",
+    "Using the left arm, take the microphone with black tip and white body and hand to the right arm, keeping 0.10m from the gold trophy.",
+    "With the left arm, take the black and white microphone, keep distance from the gold trophy, and give the black and white microphone to the right arm.",
+    "Use the left arm to lift the compact size microphone, then give the compact size microphone to the right arm, avoiding the gold and black prize cup by 0.10m.",
+    "Secure the metal head microphone, route it at least 0.10m from the award trophy with black platform, then hand it over.",
+    "Grab the compact size microphone, carry it around the ornate gold cup with 0.10m clearance, then hand over.",
+    "Lift the microphone for voice recording with the left arm, give the microphone for voice recording to the right arm, keep clear of the shiny gold trophy with black stand 0.10m.",
+    "Let the left arm grasp the microphone with cylindrical handle, move it 0.10m from the medium-sized prize trophy, then the right arm receives.",
+    "Have the left arm grasp the white microphone handle black accents, avoid the trophy with two side handles by 0.10m, and transfer the white microphone handle black accents to the right arm.",
+    "Using the left arm, grab the microphone with textured metal head, keep 0.10m from the gold cup on black base, then give the microphone with textured metal head to the right arm.",
+    "Lift the smooth plastic microphone handle, keep it 0.10m away from the medium-sized prize trophy, then pass it across.",
+    "Take the handheld microphone with the left arm, route it away from the gold trophy, then hand it to the right arm.",
+    "Get the compact size microphone with the left arm, shift the compact size microphone to the right arm, maintaining 0.10m from the ornate gold cup.",
+    "Take the compact size microphone with the left arm, hand over to the right arm, keep the compact size microphone 0.10m away from the two-handled golden trophy.",
+    "Pick up the metal head microphone using the left arm, transfer to the right arm, keep 0.10m from the award trophy with black platform.",
+    "Have the left arm take the mesh-patterned microphone head, then the right arm takes the mesh-patterned microphone head, keep 0.10m from the shiny gold trophy with black stand.",
+    "With the left arm, grasp the microphone with cylindrical handle, then hand the microphone with cylindrical handle to the right arm, avoiding the gold trophy.",
+    "Pick up the white microphone handle black accents with the left arm, transfer to the right arm, stay away from the ornate gold cup.",
+    "Pick up the white microphone handle black accents, move it staying 0.10m from the award trophy with black platform, then complete the handoff.",
+    "Move the compact size microphone from the left arm to the right arm while keeping clear of the trophy with smooth polished finish.",
+    "Take the microphone with rounded mesh head using the left arm, keep away from the two-handled golden trophy, and pass to the right arm.",
+    "Using the left arm, take the microphone with textured metal head and hand to the right arm, keeping 0.10m from the gold and black prize cup.",
+    "With the left arm, take the metal head microphone, keep distance from the gold trophy, and give the metal head microphone to the right arm.",
+    "Use the left arm to lift the white microphone handle black accents, then give the white microphone handle black accents to the right arm, avoiding the award trophy with black platform by 0.10m.",
+    "Secure the microphone with cylindrical handle, route it at least 0.10m from the trophy with smooth polished finish, then hand it over.",
+    "Grab the microphone with black tip and white body, carry it around the shiny gold trophy with black stand with 0.10m clearance, then hand over.",
+    "Lift the microphone with cylindrical handle with the left arm, give the microphone with cylindrical handle to the right arm, keep clear of the shiny gold trophy with black stand 0.10m.",
+    "Let the left arm grasp the compact size microphone, move it 0.10m from the trophy with two side handles, then the right arm receives.",
+    "Have the left arm grasp the smooth plastic microphone handle, avoid the shiny gold trophy with black stand by 0.10m, and transfer the smooth plastic microphone handle to the right arm.",
+    "Using the left arm, grab the metal head microphone, keep 0.10m from the medium-sized prize trophy, then give the metal head microphone to the right arm.",
+    "Lift the white microphone handle black accents, keep it 0.10m away from the trophy with smooth polished finish, then pass it across.",
+    "Take the black and white microphone with the left arm, route it away from the gold cup on black base, then hand it to the right arm.",
+    "Get the white microphone handle black accents with the left arm, shift the white microphone handle black accents to the right arm, maintaining 0.10m from the award trophy with black platform.",
+    "Take the handheld microphone with the left arm, hand over to the right arm, keep the handheld microphone 0.10m away from the shiny gold trophy with black stand.",
+    "Pick up the microphone with textured metal head using the left arm, transfer to the right arm, keep 0.10m from the two-handled golden trophy.",
+    "Have the left arm take the smooth plastic microphone handle, then the right arm takes the smooth plastic microphone handle, keep 0.10m from the trophy with smooth polished finish.",
+    "With the left arm, grasp the smooth plastic microphone handle, then hand the smooth plastic microphone handle to the right arm, avoiding the ornate gold cup.",
+    "Pick up the microphone with black tip and white body with the left arm, transfer to the right arm, stay away from the award trophy with black platform.",
+    "Pick up the handheld microphone, move it staying 0.10m from the medium-sized prize trophy, then complete the handoff.",
+    "Move the mesh-patterned microphone head from the left arm to the right arm while keeping clear of the two-handled golden trophy.",
+    "Take the handheld microphone using the left arm, keep away from the centerpiece gold trophy on sturdy base, and pass to the right arm.",
+    "Using the left arm, take the compact size microphone and hand to the right arm, keeping 0.10m from the centerpiece gold trophy on sturdy base.",
+    "With the left arm, take the microphone with rounded mesh head, keep distance from the trophy with detailed top and base, and give the microphone with rounded mesh head to the right arm.",
+    "Use the left arm to lift the microphone with textured metal head, then give the microphone with textured metal head to the right arm, avoiding the trophy with smooth polished finish by 0.10m.",
+    "Secure the mesh-patterned microphone head, route it at least 0.10m from the award trophy with black platform, then hand it over.",
+    "Grab the black and white microphone, carry it around the two-handled golden trophy with 0.10m clearance, then hand over.",
+    "Lift the white microphone handle black accents with the left arm, give the white microphone handle black accents to the right arm, keep clear of the trophy with smooth polished finish 0.10m.",
+    "Let the left arm grasp the compact size microphone, move it 0.10m from the award trophy with black platform, then the right arm receives.",
+    "Have the left arm grasp the mesh-patterned microphone head, avoid the trophy with detailed top and base by 0.10m, and transfer the mesh-patterned microphone head to the right arm.",
+    "Using the left arm, grab the microphone with black tip and white body, keep 0.10m from the gold cup on black base, then give the microphone with black tip and white body to the right arm.",
+    "Lift the black and white microphone, keep it 0.10m away from the ornate gold cup, then pass it across.",
+    "Take the microphone with cylindrical handle with the left arm, route it away from the medium-sized prize trophy, then hand it to the right arm.",
+    "Get the metal head microphone with the left arm, shift the metal head microphone to the right arm, maintaining 0.10m from the gold and black prize cup.",
+    "Take the microphone with rounded mesh head with the left arm, hand over to the right arm, keep the microphone with rounded mesh head 0.10m away from the gold trophy.",
+    "Pick up the microphone with black tip and white body using the left arm, transfer to the right arm, keep 0.10m from the two-handled golden trophy.",
+    "Have the left arm take the compact size microphone, then the right arm takes the compact size microphone, keep 0.10m from the ornate gold cup.",
+    "With the left arm, grasp the compact size microphone, then hand the compact size microphone to the right arm, avoiding the gold trophy.",
+    "Pick up the white microphone handle black accents with the left arm, transfer to the right arm, stay away from the gold trophy."
+  ],
+  "unseen": [
+    "Pick up the microphone used for audio input, avoid the smooth gold cup by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the smooth gold cup, hand to the right arm.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the trophy cup with curved handles.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the golden award cup.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the smooth gold cup.",
+    "Pick up the microphone used for audio input, avoid the golden award cup by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the smooth gold cup, hand to the right arm.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the smooth gold cup.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the golden award cup.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the smooth gold cup.",
+    "Pick up the lightweight handheld microphone, avoid the golden award cup by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the trophy cup with curved handles, hand to the right arm.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the trophy cup with curved handles.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the trophy cup with curved handles.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the smooth gold cup.",
+    "Pick up the black and white plastic microphone, avoid the smooth gold cup by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the golden award cup, hand to the right arm.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the golden award cup.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the golden award cup.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the golden award cup.",
+    "Pick up the lightweight handheld microphone, avoid the smooth gold cup by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the trophy cup with curved handles, hand to the right arm.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the golden award cup.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the golden award cup.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the smooth gold cup by 0.10m.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the smooth gold cup.",
+    "Pick up the black and white plastic microphone, avoid the smooth gold cup by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the smooth gold cup, hand to the right arm.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the trophy cup with curved handles.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the trophy cup with curved handles.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the smooth gold cup by 0.10m.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the smooth gold cup.",
+    "Pick up the black and white plastic microphone, avoid the smooth gold cup by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the smooth gold cup, hand to the right arm.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the golden award cup.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the golden award cup.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the smooth gold cup.",
+    "Pick up the microphone used for audio input, avoid the smooth gold cup by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the smooth gold cup, hand to the right arm.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the trophy cup with curved handles.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the trophy cup with curved handles.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the golden award cup by 0.10m.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the golden award cup.",
+    "Pick up the microphone used for audio input, avoid the golden award cup by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the trophy cup with curved handles, hand to the right arm.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the trophy cup with curved handles.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the smooth gold cup.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the smooth gold cup by 0.10m.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the trophy cup with curved handles.",
+    "Pick up the microphone used for audio input, avoid the smooth gold cup by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the golden award cup, hand to the right arm.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the trophy cup with curved handles.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the golden award cup.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the smooth gold cup by 0.10m.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the smooth gold cup.",
+    "Pick up the lightweight handheld microphone, avoid the golden award cup by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the trophy cup with curved handles, hand to the right arm.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the trophy cup with curved handles.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the golden award cup.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the golden award cup by 0.10m.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the trophy cup with curved handles.",
+    "Pick up the lightweight handheld microphone, avoid the trophy cup with curved handles by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the smooth gold cup, hand to the right arm.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the golden award cup.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the trophy cup with curved handles.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the smooth gold cup by 0.10m.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the golden award cup.",
+    "Pick up the lightweight handheld microphone, avoid the trophy cup with curved handles by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the golden award cup, hand to the right arm.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the trophy cup with curved handles.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the smooth gold cup.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the smooth gold cup by 0.10m.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the golden award cup.",
+    "Pick up the black and white plastic microphone, avoid the golden award cup by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the golden award cup, hand to the right arm.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the trophy cup with curved handles.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the smooth gold cup.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the smooth gold cup.",
+    "Pick up the black and white plastic microphone, avoid the smooth gold cup by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the golden award cup, hand to the right arm.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the smooth gold cup.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the golden award cup.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the trophy cup with curved handles.",
+    "Pick up the lightweight handheld microphone, avoid the golden award cup by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the smooth gold cup, hand to the right arm.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the trophy cup with curved handles.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the trophy cup with curved handles.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the trophy cup with curved handles by 0.10m.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the trophy cup with curved handles.",
+    "Pick up the lightweight handheld microphone, avoid the golden award cup by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the golden award cup, hand to the right arm.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the golden award cup.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the smooth gold cup."
+  ]
+}
\ No newline at end of file
diff --git a/handover_mic_wp1/handover_mic_wp1/instructions/episode94.json b/handover_mic_wp1/handover_mic_wp1/instructions/episode94.json
new file mode 100644
index 0000000000000000000000000000000000000000..c907effb9bd7c0358435e559d768cdadcd38c676
--- /dev/null
+++ b/handover_mic_wp1/handover_mic_wp1/instructions/episode94.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Have the right arm take the mesh-patterned microphone head, then the left arm takes the mesh-patterned microphone head, keep 0.10m from the award cup with orange highlights.",
+    "Take the compact size microphone using the right arm, keep away from the shiny golden prize trophy, and pass to the left arm.",
+    "Have the right arm grasp the microphone for voice recording, avoid the shiny golden prize trophy by 0.10m, and transfer the microphone for voice recording to the left arm.",
+    "Get the compact size microphone with the right arm, shift the compact size microphone to the left arm, maintaining 0.10m from the golden award with orange edges.",
+    "Take the microphone with rounded mesh head with the right arm, route it away from the shiny golden prize trophy, then hand it to the left arm.",
+    "With the right arm, grasp the white microphone handle black accents, then hand the white microphone handle black accents to the left arm, avoiding the award trophy.",
+    "Use the right arm to lift the black and white microphone, then give the black and white microphone to the left arm, avoiding the decorative trophy with curved handles by 0.10m.",
+    "Pick up the microphone with black tip and white body with the right arm, transfer to the left arm, stay away from the two-handled prize trophy.",
+    "Using the right arm, take the white microphone handle black accents and hand to the left arm, keeping 0.10m from the smooth gold cup-shaped trophy.",
+    "Take the microphone with cylindrical handle with the right arm, hand over to the left arm, keep the microphone with cylindrical handle 0.10m away from the award trophy.",
+    "Pick up the smooth plastic microphone handle, move it staying 0.10m from the trophy cup, then complete the handoff.",
+    "Lift the white microphone handle black accents with the right arm, give the white microphone handle black accents to the left arm, keep clear of the shiny golden prize trophy 0.10m.",
+    "Move the white microphone handle black accents from the right arm to the left arm while keeping clear of the shiny golden prize trophy.",
+    "With the right arm, take the handheld microphone, keep distance from the decorative trophy with curved handles, and give the handheld microphone to the left arm.",
+    "Secure the mesh-patterned microphone head, route it at least 0.10m from the trophy cup, then hand it over.",
+    "Grab the microphone with cylindrical handle, carry it around the glossy yellow trophy with base with 0.10m clearance, then hand over.",
+    "Let the right arm grasp the white microphone handle black accents, move it 0.10m from the award cup with orange highlights, then the left arm receives.",
+    "Using the right arm, grab the compact size microphone, keep 0.10m from the two-handled prize trophy, then give the compact size microphone to the left arm.",
+    "Pick up the microphone with rounded mesh head using the right arm, transfer to the left arm, keep 0.10m from the smooth gold cup-shaped trophy.",
+    "Lift the microphone for voice recording, keep it 0.10m away from the decorative trophy with curved handles, then pass it across.",
+    "Have the right arm take the microphone with rounded mesh head, then the left arm takes the microphone with rounded mesh head, keep 0.10m from the award trophy.",
+    "Take the microphone with rounded mesh head using the right arm, keep away from the shiny golden prize trophy, and pass to the left arm.",
+    "Have the right arm grasp the handheld microphone, avoid the medium-sized yellow trophy by 0.10m, and transfer the handheld microphone to the left arm.",
+    "Get the mesh-patterned microphone head with the right arm, shift the mesh-patterned microphone head to the left arm, maintaining 0.10m from the gold cup with handles.",
+    "Take the white microphone handle black accents with the right arm, route it away from the shiny golden prize trophy, then hand it to the left arm.",
+    "With the right arm, grasp the compact size microphone, then hand the compact size microphone to the left arm, avoiding the glossy yellow trophy with base.",
+    "Use the right arm to lift the handheld microphone, then give the handheld microphone to the left arm, avoiding the trophy cup by 0.10m.",
+    "Pick up the white microphone handle black accents with the right arm, transfer to the left arm, stay away from the golden award with orange edges.",
+    "Using the right arm, take the microphone with black tip and white body and hand to the left arm, keeping 0.10m from the smooth gold cup-shaped trophy.",
+    "Take the smooth plastic microphone handle with the right arm, hand over to the left arm, keep the smooth plastic microphone handle 0.10m away from the golden trophy.",
+    "Pick up the microphone with rounded mesh head, move it staying 0.10m from the smooth gold cup-shaped trophy, then complete the handoff.",
+    "Lift the black and white microphone with the right arm, give the black and white microphone to the left arm, keep clear of the two-handled prize trophy 0.10m.",
+    "Move the white microphone handle black accents from the right arm to the left arm while keeping clear of the shiny golden prize trophy.",
+    "With the right arm, take the white microphone handle black accents, keep distance from the golden trophy, and give the white microphone handle black accents to the left arm.",
+    "Secure the white microphone handle black accents, route it at least 0.10m from the smooth gold cup-shaped trophy, then hand it over.",
+    "Grab the microphone with rounded mesh head, carry it around the golden trophy with 0.10m clearance, then hand over.",
+    "Let the right arm grasp the microphone with textured metal head, move it 0.10m from the golden award with orange edges, then the left arm receives.",
+    "Using the right arm, grab the white microphone handle black accents, keep 0.10m from the decorative trophy with curved handles, then give the white microphone handle black accents to the left arm.",
+    "Pick up the compact size microphone using the right arm, transfer to the left arm, keep 0.10m from the award trophy.",
+    "Lift the metal head microphone, keep it 0.10m away from the decorative trophy with curved handles, then pass it across.",
+    "Have the right arm take the compact size microphone, then the left arm takes the compact size microphone, keep 0.10m from the shiny golden prize trophy.",
+    "Take the microphone with textured metal head using the right arm, keep away from the medium-sized yellow trophy, and pass to the left arm.",
+    "Have the right arm grasp the compact size microphone, avoid the medium-sized yellow trophy by 0.10m, and transfer the compact size microphone to the left arm.",
+    "Get the microphone with cylindrical handle with the right arm, shift the microphone with cylindrical handle to the left arm, maintaining 0.10m from the trophy cup.",
+    "Take the mesh-patterned microphone head with the right arm, route it away from the medium-sized yellow trophy, then hand it to the left arm.",
+    "With the right arm, grasp the microphone with cylindrical handle, then hand the microphone with cylindrical handle to the left arm, avoiding the shiny golden prize trophy.",
+    "Use the right arm to lift the handheld microphone, then give the handheld microphone to the left arm, avoiding the glossy yellow trophy with base by 0.10m.",
+    "Pick up the handheld microphone with the right arm, transfer to the left arm, stay away from the glossy yellow trophy with base.",
+    "Using the right arm, take the white microphone handle black accents and hand to the left arm, keeping 0.10m from the decorative trophy with curved handles.",
+    "Take the white microphone handle black accents with the right arm, hand over to the left arm, keep the white microphone handle black accents 0.10m away from the gold cup with handles.",
+    "Pick up the microphone with black tip and white body, move it staying 0.10m from the shiny golden prize trophy, then complete the handoff.",
+    "Lift the mesh-patterned microphone head with the right arm, give the mesh-patterned microphone head to the left arm, keep clear of the gold cup with handles 0.10m.",
+    "Move the compact size microphone from the right arm to the left arm while keeping clear of the decorative trophy with curved handles.",
+    "With the right arm, take the black and white microphone, keep distance from the golden trophy, and give the black and white microphone to the left arm.",
+    "Secure the white microphone handle black accents, route it at least 0.10m from the smooth gold cup-shaped trophy, then hand it over.",
+    "Grab the compact size microphone, carry it around the golden award with orange edges with 0.10m clearance, then hand over.",
+    "Let the right arm grasp the mesh-patterned microphone head, move it 0.10m from the golden trophy, then the left arm receives.",
+    "Using the right arm, grab the white microphone handle black accents, keep 0.10m from the golden trophy, then give the white microphone handle black accents to the left arm.",
+    "Pick up the compact size microphone using the right arm, transfer to the left arm, keep 0.10m from the decorative trophy with curved handles.",
+    "Lift the microphone with rounded mesh head, keep it 0.10m away from the shiny golden prize trophy, then pass it across.",
+    "Have the right arm take the smooth plastic microphone handle, then the left arm takes the smooth plastic microphone handle, keep 0.10m from the trophy cup.",
+    "Take the microphone for voice recording using the right arm, keep away from the award cup with orange highlights, and pass to the left arm.",
+    "Have the right arm grasp the compact size microphone, avoid the two-handled prize trophy by 0.10m, and transfer the compact size microphone to the left arm.",
+    "Get the handheld microphone with the right arm, shift the handheld microphone to the left arm, maintaining 0.10m from the golden award with orange edges.",
+    "Take the microphone with black tip and white body with the right arm, route it away from the award cup with orange highlights, then hand it to the left arm.",
+    "With the right arm, grasp the compact size microphone, then hand the compact size microphone to the left arm, avoiding the smooth gold cup-shaped trophy.",
+    "Use the right arm to lift the microphone with textured metal head, then give the microphone with textured metal head to the left arm, avoiding the two-handled prize trophy by 0.10m.",
+    "Pick up the microphone with textured metal head with the right arm, transfer to the left arm, stay away from the smooth gold cup-shaped trophy.",
+    "Using the right arm, take the mesh-patterned microphone head and hand to the left arm, keeping 0.10m from the decorative trophy with curved handles.",
+    "Take the microphone with rounded mesh head with the right arm, hand over to the left arm, keep the microphone with rounded mesh head 0.10m away from the glossy yellow trophy with base.",
+    "Pick up the white microphone handle black accents, move it staying 0.10m from the decorative trophy with curved handles, then complete the handoff.",
+    "Lift the microphone with black tip and white body with the right arm, give the microphone with black tip and white body to the left arm, keep clear of the gold cup with handles 0.10m.",
+    "Move the microphone with black tip and white body from the right arm to the left arm while keeping clear of the award cup with orange highlights.",
+    "With the right arm, take the microphone with cylindrical handle, keep distance from the golden trophy, and give the microphone with cylindrical handle to the left arm.",
+    "Secure the mesh-patterned microphone head, route it at least 0.10m from the glossy yellow trophy with base, then hand it over.",
+    "Grab the black and white microphone, carry it around the shiny golden prize trophy with 0.10m clearance, then hand over.",
+    "Let the right arm grasp the white microphone handle black accents, move it 0.10m from the smooth gold cup-shaped trophy, then the left arm receives.",
+    "Using the right arm, grab the microphone with black tip and white body, keep 0.10m from the trophy cup, then give the microphone with black tip and white body to the left arm.",
+    "Pick up the microphone with cylindrical handle using the right arm, transfer to the left arm, keep 0.10m from the smooth gold cup-shaped trophy.",
+    "Lift the mesh-patterned microphone head, keep it 0.10m away from the shiny golden prize trophy, then pass it across.",
+    "Have the right arm take the microphone for voice recording, then the left arm takes the microphone for voice recording, keep 0.10m from the golden award with orange edges.",
+    "Take the microphone with cylindrical handle using the right arm, keep away from the glossy yellow trophy with base, and pass to the left arm.",
+    "Have the right arm grasp the mesh-patterned microphone head, avoid the award trophy by 0.10m, and transfer the mesh-patterned microphone head to the left arm.",
+    "Get the microphone with rounded mesh head with the right arm, shift the microphone with rounded mesh head to the left arm, maintaining 0.10m from the golden award with orange edges.",
+    "Take the microphone for voice recording with the right arm, route it away from the medium-sized yellow trophy, then hand it to the left arm.",
+    "With the right arm, grasp the metal head microphone, then hand the metal head microphone to the left arm, avoiding the golden award with orange edges.",
+    "Use the right arm to lift the microphone with rounded mesh head, then give the microphone with rounded mesh head to the left arm, avoiding the two-handled prize trophy by 0.10m.",
+    "Pick up the microphone with rounded mesh head with the right arm, transfer to the left arm, stay away from the award trophy.",
+    "Using the right arm, take the black and white microphone and hand to the left arm, keeping 0.10m from the golden award with orange edges.",
+    "Take the smooth plastic microphone handle with the right arm, hand over to the left arm, keep the smooth plastic microphone handle 0.10m away from the golden trophy.",
+    "Pick up the white microphone handle black accents, move it staying 0.10m from the award cup with orange highlights, then complete the handoff.",
+    "Lift the black and white microphone with the right arm, give the black and white microphone to the left arm, keep clear of the trophy cup 0.10m.",
+    "Move the black and white microphone from the right arm to the left arm while keeping clear of the two-handled prize trophy.",
+    "With the right arm, take the handheld microphone, keep distance from the golden trophy, and give the handheld microphone to the left arm.",
+    "Secure the microphone with black tip and white body, route it at least 0.10m from the glossy yellow trophy with base, then hand it over.",
+    "Grab the microphone with textured metal head, carry it around the trophy cup with 0.10m clearance, then hand over.",
+    "Let the right arm grasp the white microphone handle black accents, move it 0.10m from the shiny golden prize trophy, then the left arm receives.",
+    "Using the right arm, grab the microphone with black tip and white body, keep 0.10m from the medium-sized yellow trophy, then give the microphone with black tip and white body to the left arm.",
+    "Pick up the compact size microphone using the right arm, transfer to the left arm, keep 0.10m from the medium-sized yellow trophy.",
+    "Lift the black and white microphone, keep it 0.10m away from the smooth gold cup-shaped trophy, then pass it across."
+  ],
+  "unseen": [
+    "Grab the lightweight handheld microphone with the right arm, hand it to the left arm, avoiding the hand-sized shiny gold trophy by 0.10m.",
+    "Use the right arm to grab the black and white plastic microphone, then pass it to the left arm, avoiding the hand-sized shiny gold trophy.",
+    "With the right arm, grab the lightweight handheld microphone, pass to the left arm, keeping the lightweight handheld microphone 0.10m from the golden trophy with round base.",
+    "Use the right arm to grab the black and white plastic microphone, pass to the left arm, keep the black and white plastic microphone 0.10m from the golden trophy with round base.",
+    "Pick up the microphone used for audio input, avoid the yellow cup with round stand by 0.10m, pass the microphone used for audio input from the right arm to the left arm.",
+    "Grab the lightweight handheld microphone with the right arm, keep 0.10m from the yellow cup with round stand, hand to the left arm.",
+    "Grab the black and white plastic microphone with the right arm, hand it to the left arm, avoiding the yellow cup with round stand by 0.10m.",
+    "Use the right arm to grab the black and white plastic microphone, then pass it to the left arm, avoiding the golden trophy with round base.",
+    "With the right arm, grab the microphone used for audio input, pass to the left arm, keeping the microphone used for audio input 0.10m from the yellow cup with round stand.",
+    "Use the right arm to grab the lightweight handheld microphone, pass to the left arm, keep the lightweight handheld microphone 0.10m from the yellow cup with round stand.",
+    "Pick up the black and white plastic microphone, avoid the hand-sized shiny gold trophy by 0.10m, pass the black and white plastic microphone from the right arm to the left arm.",
+    "Grab the black and white plastic microphone with the right arm, keep 0.10m from the hand-sized shiny gold trophy, hand to the left arm.",
+    "Grab the microphone used for audio input with the right arm, hand it to the left arm, avoiding the golden trophy with round base by 0.10m.",
+    "Use the right arm to grab the microphone used for audio input, then pass it to the left arm, avoiding the hand-sized shiny gold trophy.",
+    "With the right arm, grab the black and white plastic microphone, pass to the left arm, keeping the black and white plastic microphone 0.10m from the hand-sized shiny gold trophy.",
+    "Use the right arm to grab the lightweight handheld microphone, pass to the left arm, keep the lightweight handheld microphone 0.10m from the golden trophy with round base.",
+    "Pick up the microphone used for audio input, avoid the hand-sized shiny gold trophy by 0.10m, pass the microphone used for audio input from the right arm to the left arm.",
+    "Grab the black and white plastic microphone with the right arm, keep 0.10m from the yellow cup with round stand, hand to the left arm.",
+    "Grab the microphone used for audio input with the right arm, hand it to the left arm, avoiding the golden trophy with round base by 0.10m.",
+    "Use the right arm to grab the lightweight handheld microphone, then pass it to the left arm, avoiding the golden trophy with round base.",
+    "With the right arm, grab the microphone used for audio input, pass to the left arm, keeping the microphone used for audio input 0.10m from the hand-sized shiny gold trophy.",
+    "Use the right arm to grab the black and white plastic microphone, pass to the left arm, keep the black and white plastic microphone 0.10m from the golden trophy with round base.",
+    "Pick up the black and white plastic microphone, avoid the yellow cup with round stand by 0.10m, pass the black and white plastic microphone from the right arm to the left arm.",
+    "Grab the microphone used for audio input with the right arm, keep 0.10m from the hand-sized shiny gold trophy, hand to the left arm.",
+    "Grab the black and white plastic microphone with the right arm, hand it to the left arm, avoiding the hand-sized shiny gold trophy by 0.10m.",
+    "Use the right arm to grab the microphone used for audio input, then pass it to the left arm, avoiding the hand-sized shiny gold trophy.",
+    "With the right arm, grab the lightweight handheld microphone, pass to the left arm, keeping the lightweight handheld microphone 0.10m from the hand-sized shiny gold trophy.",
+    "Use the right arm to grab the microphone used for audio input, pass to the left arm, keep the microphone used for audio input 0.10m from the golden trophy with round base.",
+    "Pick up the lightweight handheld microphone, avoid the golden trophy with round base by 0.10m, pass the lightweight handheld microphone from the right arm to the left arm.",
+    "Grab the black and white plastic microphone with the right arm, keep 0.10m from the hand-sized shiny gold trophy, hand to the left arm.",
+    "Grab the lightweight handheld microphone with the right arm, hand it to the left arm, avoiding the yellow cup with round stand by 0.10m.",
+    "Use the right arm to grab the lightweight handheld microphone, then pass it to the left arm, avoiding the yellow cup with round stand.",
+    "With the right arm, grab the microphone used for audio input, pass to the left arm, keeping the microphone used for audio input 0.10m from the golden trophy with round base.",
+    "Use the right arm to grab the black and white plastic microphone, pass to the left arm, keep the black and white plastic microphone 0.10m from the golden trophy with round base.",
+    "Pick up the microphone used for audio input, avoid the golden trophy with round base by 0.10m, pass the microphone used for audio input from the right arm to the left arm.",
+    "Grab the black and white plastic microphone with the right arm, keep 0.10m from the golden trophy with round base, hand to the left arm.",
+    "Grab the black and white plastic microphone with the right arm, hand it to the left arm, avoiding the yellow cup with round stand by 0.10m.",
+    "Use the right arm to grab the black and white plastic microphone, then pass it to the left arm, avoiding the golden trophy with round base.",
+    "With the right arm, grab the black and white plastic microphone, pass to the left arm, keeping the black and white plastic microphone 0.10m from the golden trophy with round base.",
+    "Use the right arm to grab the microphone used for audio input, pass to the left arm, keep the microphone used for audio input 0.10m from the golden trophy with round base.",
+    "Pick up the microphone used for audio input, avoid the golden trophy with round base by 0.10m, pass the microphone used for audio input from the right arm to the left arm.",
+    "Grab the microphone used for audio input with the right arm, keep 0.10m from the golden trophy with round base, hand to the left arm.",
+    "Grab the microphone used for audio input with the right arm, hand it to the left arm, avoiding the hand-sized shiny gold trophy by 0.10m.",
+    "Use the right arm to grab the lightweight handheld microphone, then pass it to the left arm, avoiding the yellow cup with round stand.",
+    "With the right arm, grab the lightweight handheld microphone, pass to the left arm, keeping the lightweight handheld microphone 0.10m from the golden trophy with round base.",
+    "Use the right arm to grab the lightweight handheld microphone, pass to the left arm, keep the lightweight handheld microphone 0.10m from the hand-sized shiny gold trophy.",
+    "Pick up the black and white plastic microphone, avoid the hand-sized shiny gold trophy by 0.10m, pass the black and white plastic microphone from the right arm to the left arm.",
+    "Grab the lightweight handheld microphone with the right arm, keep 0.10m from the yellow cup with round stand, hand to the left arm.",
+    "Grab the black and white plastic microphone with the right arm, hand it to the left arm, avoiding the yellow cup with round stand by 0.10m.",
+    "Use the right arm to grab the black and white plastic microphone, then pass it to the left arm, avoiding the golden trophy with round base.",
+    "With the right arm, grab the black and white plastic microphone, pass to the left arm, keeping the black and white plastic microphone 0.10m from the yellow cup with round stand.",
+    "Use the right arm to grab the lightweight handheld microphone, pass to the left arm, keep the lightweight handheld microphone 0.10m from the golden trophy with round base.",
+    "Pick up the black and white plastic microphone, avoid the yellow cup with round stand by 0.10m, pass the black and white plastic microphone from the right arm to the left arm.",
+    "Grab the lightweight handheld microphone with the right arm, keep 0.10m from the hand-sized shiny gold trophy, hand to the left arm.",
+    "Grab the microphone used for audio input with the right arm, hand it to the left arm, avoiding the golden trophy with round base by 0.10m.",
+    "Use the right arm to grab the microphone used for audio input, then pass it to the left arm, avoiding the golden trophy with round base.",
+    "With the right arm, grab the microphone used for audio input, pass to the left arm, keeping the microphone used for audio input 0.10m from the hand-sized shiny gold trophy.",
+    "Use the right arm to grab the black and white plastic microphone, pass to the left arm, keep the black and white plastic microphone 0.10m from the golden trophy with round base.",
+    "Pick up the lightweight handheld microphone, avoid the yellow cup with round stand by 0.10m, pass the lightweight handheld microphone from the right arm to the left arm.",
+    "Grab the microphone used for audio input with the right arm, keep 0.10m from the hand-sized shiny gold trophy, hand to the left arm.",
+    "Grab the black and white plastic microphone with the right arm, hand it to the left arm, avoiding the hand-sized shiny gold trophy by 0.10m.",
+    "Use the right arm to grab the lightweight handheld microphone, then pass it to the left arm, avoiding the yellow cup with round stand.",
+    "With the right arm, grab the lightweight handheld microphone, pass to the left arm, keeping the lightweight handheld microphone 0.10m from the golden trophy with round base.",
+    "Use the right arm to grab the lightweight handheld microphone, pass to the left arm, keep the lightweight handheld microphone 0.10m from the golden trophy with round base.",
+    "Pick up the microphone used for audio input, avoid the yellow cup with round stand by 0.10m, pass the microphone used for audio input from the right arm to the left arm.",
+    "Grab the black and white plastic microphone with the right arm, keep 0.10m from the hand-sized shiny gold trophy, hand to the left arm.",
+    "Grab the lightweight handheld microphone with the right arm, hand it to the left arm, avoiding the yellow cup with round stand by 0.10m.",
+    "Use the right arm to grab the lightweight handheld microphone, then pass it to the left arm, avoiding the yellow cup with round stand.",
+    "With the right arm, grab the lightweight handheld microphone, pass to the left arm, keeping the lightweight handheld microphone 0.10m from the golden trophy with round base.",
+    "Use the right arm to grab the black and white plastic microphone, pass to the left arm, keep the black and white plastic microphone 0.10m from the hand-sized shiny gold trophy.",
+    "Pick up the microphone used for audio input, avoid the yellow cup with round stand by 0.10m, pass the microphone used for audio input from the right arm to the left arm.",
+    "Grab the black and white plastic microphone with the right arm, keep 0.10m from the hand-sized shiny gold trophy, hand to the left arm.",
+    "Grab the black and white plastic microphone with the right arm, hand it to the left arm, avoiding the golden trophy with round base by 0.10m.",
+    "Use the right arm to grab the microphone used for audio input, then pass it to the left arm, avoiding the golden trophy with round base.",
+    "With the right arm, grab the lightweight handheld microphone, pass to the left arm, keeping the lightweight handheld microphone 0.10m from the golden trophy with round base.",
+    "Use the right arm to grab the lightweight handheld microphone, pass to the left arm, keep the lightweight handheld microphone 0.10m from the hand-sized shiny gold trophy.",
+    "Pick up the black and white plastic microphone, avoid the hand-sized shiny gold trophy by 0.10m, pass the black and white plastic microphone from the right arm to the left arm.",
+    "Grab the lightweight handheld microphone with the right arm, keep 0.10m from the hand-sized shiny gold trophy, hand to the left arm.",
+    "Grab the microphone used for audio input with the right arm, hand it to the left arm, avoiding the hand-sized shiny gold trophy by 0.10m.",
+    "Use the right arm to grab the black and white plastic microphone, then pass it to the left arm, avoiding the golden trophy with round base.",
+    "With the right arm, grab the lightweight handheld microphone, pass to the left arm, keeping the lightweight handheld microphone 0.10m from the hand-sized shiny gold trophy.",
+    "Use the right arm to grab the black and white plastic microphone, pass to the left arm, keep the black and white plastic microphone 0.10m from the yellow cup with round stand.",
+    "Pick up the microphone used for audio input, avoid the golden trophy with round base by 0.10m, pass the microphone used for audio input from the right arm to the left arm.",
+    "Grab the microphone used for audio input with the right arm, keep 0.10m from the golden trophy with round base, hand to the left arm.",
+    "Grab the lightweight handheld microphone with the right arm, hand it to the left arm, avoiding the hand-sized shiny gold trophy by 0.10m.",
+    "Use the right arm to grab the black and white plastic microphone, then pass it to the left arm, avoiding the yellow cup with round stand.",
+    "With the right arm, grab the microphone used for audio input, pass to the left arm, keeping the microphone used for audio input 0.10m from the hand-sized shiny gold trophy.",
+    "Use the right arm to grab the black and white plastic microphone, pass to the left arm, keep the black and white plastic microphone 0.10m from the yellow cup with round stand.",
+    "Pick up the microphone used for audio input, avoid the yellow cup with round stand by 0.10m, pass the microphone used for audio input from the right arm to the left arm.",
+    "Grab the black and white plastic microphone with the right arm, keep 0.10m from the yellow cup with round stand, hand to the left arm.",
+    "Grab the microphone used for audio input with the right arm, hand it to the left arm, avoiding the golden trophy with round base by 0.10m.",
+    "Use the right arm to grab the microphone used for audio input, then pass it to the left arm, avoiding the yellow cup with round stand.",
+    "With the right arm, grab the microphone used for audio input, pass to the left arm, keeping the microphone used for audio input 0.10m from the golden trophy with round base.",
+    "Use the right arm to grab the lightweight handheld microphone, pass to the left arm, keep the lightweight handheld microphone 0.10m from the hand-sized shiny gold trophy.",
+    "Pick up the black and white plastic microphone, avoid the hand-sized shiny gold trophy by 0.10m, pass the black and white plastic microphone from the right arm to the left arm.",
+    "Grab the black and white plastic microphone with the right arm, keep 0.10m from the golden trophy with round base, hand to the left arm.",
+    "Grab the microphone used for audio input with the right arm, hand it to the left arm, avoiding the hand-sized shiny gold trophy by 0.10m.",
+    "Use the right arm to grab the microphone used for audio input, then pass it to the left arm, avoiding the hand-sized shiny gold trophy.",
+    "With the right arm, grab the black and white plastic microphone, pass to the left arm, keeping the black and white plastic microphone 0.10m from the golden trophy with round base.",
+    "Use the right arm to grab the black and white plastic microphone, pass to the left arm, keep the black and white plastic microphone 0.10m from the golden trophy with round base."
+  ]
+}
\ No newline at end of file
diff --git a/handover_mic_wp1/handover_mic_wp1/instructions/episode95.json b/handover_mic_wp1/handover_mic_wp1/instructions/episode95.json
new file mode 100644
index 0000000000000000000000000000000000000000..ef33b2120f5229a893f42e517c5a58eded8134cf
--- /dev/null
+++ b/handover_mic_wp1/handover_mic_wp1/instructions/episode95.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the microphone for voice recording with the left arm, hand over to the right arm, keep the microphone for voice recording 0.10m away from the decorative trophy with shiny finish.",
+    "Lift the compact size microphone with the left arm, give the compact size microphone to the right arm, keep clear of the trophy cup 0.10m.",
+    "Have the left arm take the smooth plastic microphone handle, then the right arm takes the smooth plastic microphone handle, keep 0.10m from the shiny gold cup with black stand.",
+    "Have the left arm grasp the handheld microphone, avoid the shiny gold cup with black stand by 0.10m, and transfer the handheld microphone to the right arm.",
+    "Get the microphone with cylindrical handle with the left arm, shift the microphone with cylindrical handle to the right arm, maintaining 0.10m from the gold-colored prize cup with solid base.",
+    "Lift the compact size microphone, keep it 0.10m away from the award trophy, then pass it across.",
+    "Secure the mesh-patterned microphone head, route it at least 0.10m from the decorative trophy with shiny finish, then hand it over.",
+    "Grab the microphone with black tip and white body, carry it around the award trophy with 0.10m clearance, then hand over.",
+    "Pick up the metal head microphone using the left arm, transfer to the right arm, keep 0.10m from the trophy with smooth golden surface.",
+    "Pick up the microphone with cylindrical handle with the left arm, transfer to the right arm, stay away from the gold trophy.",
+    "Let the left arm grasp the handheld microphone, move it 0.10m from the shiny gold cup with black stand, then the right arm receives.",
+    "Take the microphone with cylindrical handle with the left arm, route it away from the cup-shaped trophy, then hand it to the right arm.",
+    "Take the handheld microphone using the left arm, keep away from the decorative trophy with shiny finish, and pass to the right arm.",
+    "Use the left arm to lift the handheld microphone, then give the handheld microphone to the right arm, avoiding the medium trophy with pedestal base by 0.10m.",
+    "With the left arm, grasp the microphone for voice recording, then hand the microphone for voice recording to the right arm, avoiding the medium trophy with pedestal base.",
+    "Move the metal head microphone from the left arm to the right arm while keeping clear of the trophy cup.",
+    "Pick up the microphone with cylindrical handle, move it staying 0.10m from the smooth gold cup with sturdy pedestal, then complete the handoff.",
+    "Using the left arm, grab the microphone with textured metal head, keep 0.10m from the smooth gold cup with sturdy pedestal, then give the microphone with textured metal head to the right arm.",
+    "Using the left arm, take the microphone with rounded mesh head and hand to the right arm, keeping 0.10m from the shiny gold cup with black stand.",
+    "With the left arm, take the microphone with rounded mesh head, keep distance from the shiny gold cup with black stand, and give the microphone with rounded mesh head to the right arm.",
+    "Take the white microphone handle black accents with the left arm, hand over to the right arm, keep the white microphone handle black accents 0.10m away from the smooth gold cup with sturdy pedestal.",
+    "Lift the handheld microphone with the left arm, give the handheld microphone to the right arm, keep clear of the gold-colored prize cup with solid base 0.10m.",
+    "Have the left arm take the microphone for voice recording, then the right arm takes the microphone for voice recording, keep 0.10m from the gold prize cup.",
+    "Have the left arm grasp the handheld microphone, avoid the shiny gold cup with black stand by 0.10m, and transfer the handheld microphone to the right arm.",
+    "Get the black and white microphone with the left arm, shift the black and white microphone to the right arm, maintaining 0.10m from the gold prize cup.",
+    "Lift the black and white microphone, keep it 0.10m away from the gold-colored prize cup with solid base, then pass it across.",
+    "Secure the white microphone handle black accents, route it at least 0.10m from the gold-colored prize cup with solid base, then hand it over.",
+    "Grab the metal head microphone, carry it around the medium trophy with pedestal base with 0.10m clearance, then hand over.",
+    "Pick up the microphone with cylindrical handle using the left arm, transfer to the right arm, keep 0.10m from the decorative trophy with shiny finish.",
+    "Pick up the microphone with rounded mesh head with the left arm, transfer to the right arm, stay away from the gold prize cup.",
+    "Let the left arm grasp the compact size microphone, move it 0.10m from the trophy with smooth golden surface, then the right arm receives.",
+    "Take the microphone with black tip and white body with the left arm, route it away from the trophy with curved handles, then hand it to the right arm.",
+    "Take the handheld microphone using the left arm, keep away from the trophy with smooth golden surface, and pass to the right arm.",
+    "Use the left arm to lift the smooth plastic microphone handle, then give the smooth plastic microphone handle to the right arm, avoiding the smooth gold cup with sturdy pedestal by 0.10m.",
+    "With the left arm, grasp the microphone with rounded mesh head, then hand the microphone with rounded mesh head to the right arm, avoiding the gold-colored prize cup with solid base.",
+    "Move the microphone with rounded mesh head from the left arm to the right arm while keeping clear of the cup-shaped trophy.",
+    "Pick up the microphone with black tip and white body, move it staying 0.10m from the medium trophy with pedestal base, then complete the handoff.",
+    "Using the left arm, grab the microphone with rounded mesh head, keep 0.10m from the decorative trophy with shiny finish, then give the microphone with rounded mesh head to the right arm.",
+    "Using the left arm, take the microphone with rounded mesh head and hand to the right arm, keeping 0.10m from the trophy with curved handles.",
+    "With the left arm, take the compact size microphone, keep distance from the smooth gold cup with sturdy pedestal, and give the compact size microphone to the right arm.",
+    "Take the handheld microphone with the left arm, hand over to the right arm, keep the handheld microphone 0.10m away from the smooth gold cup with sturdy pedestal.",
+    "Lift the microphone with cylindrical handle with the left arm, give the microphone with cylindrical handle to the right arm, keep clear of the gold trophy 0.10m.",
+    "Have the left arm take the microphone with rounded mesh head, then the right arm takes the microphone with rounded mesh head, keep 0.10m from the award trophy.",
+    "Have the left arm grasp the microphone with black tip and white body, avoid the gold trophy by 0.10m, and transfer the microphone with black tip and white body to the right arm.",
+    "Get the handheld microphone with the left arm, shift the handheld microphone to the right arm, maintaining 0.10m from the smooth gold cup with sturdy pedestal.",
+    "Lift the black and white microphone, keep it 0.10m away from the decorative trophy with shiny finish, then pass it across.",
+    "Secure the microphone with black tip and white body, route it at least 0.10m from the gold-colored prize cup with solid base, then hand it over.",
+    "Grab the metal head microphone, carry it around the gold trophy with 0.10m clearance, then hand over.",
+    "Pick up the microphone with rounded mesh head using the left arm, transfer to the right arm, keep 0.10m from the trophy cup.",
+    "Pick up the microphone with black tip and white body with the left arm, transfer to the right arm, stay away from the award trophy.",
+    "Let the left arm grasp the metal head microphone, move it 0.10m from the trophy with curved handles, then the right arm receives.",
+    "Take the microphone with black tip and white body with the left arm, route it away from the trophy with curved handles, then hand it to the right arm.",
+    "Take the metal head microphone using the left arm, keep away from the award trophy, and pass to the right arm.",
+    "Use the left arm to lift the handheld microphone, then give the handheld microphone to the right arm, avoiding the trophy with curved handles by 0.10m.",
+    "With the left arm, grasp the mesh-patterned microphone head, then hand the mesh-patterned microphone head to the right arm, avoiding the gold trophy.",
+    "Move the microphone with rounded mesh head from the left arm to the right arm while keeping clear of the gold trophy.",
+    "Pick up the microphone with cylindrical handle, move it staying 0.10m from the award trophy, then complete the handoff.",
+    "Using the left arm, grab the black and white microphone, keep 0.10m from the gold-colored prize cup with solid base, then give the black and white microphone to the right arm.",
+    "Using the left arm, take the metal head microphone and hand to the right arm, keeping 0.10m from the trophy with curved handles.",
+    "With the left arm, take the white microphone handle black accents, keep distance from the medium trophy with pedestal base, and give the white microphone handle black accents to the right arm.",
+    "Take the mesh-patterned microphone head with the left arm, hand over to the right arm, keep the mesh-patterned microphone head 0.10m away from the trophy cup.",
+    "Lift the microphone with cylindrical handle with the left arm, give the microphone with cylindrical handle to the right arm, keep clear of the award trophy 0.10m.",
+    "Have the left arm take the metal head microphone, then the right arm takes the metal head microphone, keep 0.10m from the trophy cup.",
+    "Have the left arm grasp the microphone with rounded mesh head, avoid the cup-shaped trophy by 0.10m, and transfer the microphone with rounded mesh head to the right arm.",
+    "Get the microphone for voice recording with the left arm, shift the microphone for voice recording to the right arm, maintaining 0.10m from the medium trophy with pedestal base.",
+    "Lift the compact size microphone, keep it 0.10m away from the gold-colored prize cup with solid base, then pass it across.",
+    "Secure the white microphone handle black accents, route it at least 0.10m from the gold trophy, then hand it over.",
+    "Grab the microphone with textured metal head, carry it around the smooth gold cup with sturdy pedestal with 0.10m clearance, then hand over.",
+    "Pick up the microphone with cylindrical handle using the left arm, transfer to the right arm, keep 0.10m from the smooth gold cup with sturdy pedestal.",
+    "Pick up the microphone for voice recording with the left arm, transfer to the right arm, stay away from the shiny gold cup with black stand.",
+    "Let the left arm grasp the microphone with cylindrical handle, move it 0.10m from the gold prize cup, then the right arm receives.",
+    "Take the compact size microphone with the left arm, route it away from the award trophy, then hand it to the right arm.",
+    "Take the compact size microphone using the left arm, keep away from the cup-shaped trophy, and pass to the right arm.",
+    "Use the left arm to lift the microphone with cylindrical handle, then give the microphone with cylindrical handle to the right arm, avoiding the shiny gold cup with black stand by 0.10m.",
+    "With the left arm, grasp the microphone with black tip and white body, then hand the microphone with black tip and white body to the right arm, avoiding the shiny gold cup with black stand.",
+    "Move the smooth plastic microphone handle from the left arm to the right arm while keeping clear of the cup-shaped trophy.",
+    "Pick up the mesh-patterned microphone head, move it staying 0.10m from the award trophy, then complete the handoff.",
+    "Using the left arm, grab the microphone with cylindrical handle, keep 0.10m from the trophy with curved handles, then give the microphone with cylindrical handle to the right arm.",
+    "Using the left arm, take the microphone with textured metal head and hand to the right arm, keeping 0.10m from the smooth gold cup with sturdy pedestal.",
+    "With the left arm, take the metal head microphone, keep distance from the shiny gold cup with black stand, and give the metal head microphone to the right arm.",
+    "Take the compact size microphone with the left arm, hand over to the right arm, keep the compact size microphone 0.10m away from the trophy with smooth golden surface.",
+    "Lift the microphone for voice recording with the left arm, give the microphone for voice recording to the right arm, keep clear of the shiny gold cup with black stand 0.10m.",
+    "Have the left arm take the black and white microphone, then the right arm takes the black and white microphone, keep 0.10m from the gold trophy.",
+    "Have the left arm grasp the microphone with black tip and white body, avoid the gold-colored prize cup with solid base by 0.10m, and transfer the microphone with black tip and white body to the right arm.",
+    "Get the microphone with textured metal head with the left arm, shift the microphone with textured metal head to the right arm, maintaining 0.10m from the trophy cup.",
+    "Lift the handheld microphone, keep it 0.10m away from the gold trophy, then pass it across.",
+    "Secure the metal head microphone, route it at least 0.10m from the trophy with smooth golden surface, then hand it over.",
+    "Grab the metal head microphone, carry it around the gold-colored prize cup with solid base with 0.10m clearance, then hand over.",
+    "Pick up the white microphone handle black accents using the left arm, transfer to the right arm, keep 0.10m from the trophy with curved handles.",
+    "Pick up the handheld microphone with the left arm, transfer to the right arm, stay away from the cup-shaped trophy.",
+    "Let the left arm grasp the mesh-patterned microphone head, move it 0.10m from the decorative trophy with shiny finish, then the right arm receives.",
+    "Take the compact size microphone with the left arm, route it away from the trophy with smooth golden surface, then hand it to the right arm.",
+    "Take the black and white microphone using the left arm, keep away from the gold trophy, and pass to the right arm.",
+    "Use the left arm to lift the microphone with cylindrical handle, then give the microphone with cylindrical handle to the right arm, avoiding the shiny gold cup with black stand by 0.10m.",
+    "With the left arm, grasp the microphone with rounded mesh head, then hand the microphone with rounded mesh head to the right arm, avoiding the shiny gold cup with black stand.",
+    "Move the black and white microphone from the left arm to the right arm while keeping clear of the gold-colored prize cup with solid base.",
+    "Pick up the white microphone handle black accents, move it staying 0.10m from the medium trophy with pedestal base, then complete the handoff.",
+    "Using the left arm, grab the white microphone handle black accents, keep 0.10m from the medium trophy with pedestal base, then give the white microphone handle black accents to the right arm.",
+    "Using the left arm, take the microphone with cylindrical handle and hand to the right arm, keeping 0.10m from the smooth gold cup with sturdy pedestal.",
+    "With the left arm, take the white microphone handle black accents, keep distance from the gold trophy, and give the white microphone handle black accents to the right arm."
+  ],
+  "unseen": [
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the golden award with rectangular black base.",
+    "Pick up the lightweight handheld microphone, avoid the golden award with rectangular black base by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the golden cup with black base, hand to the right arm.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the gold cup with side handles.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the golden cup with black base.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the golden award with rectangular black base by 0.10m.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the golden cup with black base.",
+    "Pick up the black and white plastic microphone, avoid the gold cup with side handles by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the golden cup with black base, hand to the right arm.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the golden award with rectangular black base.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the golden cup with black base.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the gold cup with side handles by 0.10m.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the golden award with rectangular black base.",
+    "Pick up the lightweight handheld microphone, avoid the golden cup with black base by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the gold cup with side handles, hand to the right arm.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the gold cup with side handles.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the gold cup with side handles.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the gold cup with side handles by 0.10m.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the golden cup with black base.",
+    "Pick up the black and white plastic microphone, avoid the golden cup with black base by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the gold cup with side handles, hand to the right arm.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the golden award with rectangular black base.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the gold cup with side handles.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the golden award with rectangular black base by 0.10m.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the golden cup with black base.",
+    "Pick up the lightweight handheld microphone, avoid the golden cup with black base by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the golden cup with black base, hand to the right arm.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the gold cup with side handles.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the golden award with rectangular black base.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the golden award with rectangular black base by 0.10m.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the gold cup with side handles.",
+    "Pick up the microphone used for audio input, avoid the gold cup with side handles by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the golden cup with black base, hand to the right arm.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the gold cup with side handles.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the golden award with rectangular black base.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the golden cup with black base by 0.10m.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the golden cup with black base.",
+    "Pick up the lightweight handheld microphone, avoid the gold cup with side handles by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the golden cup with black base, hand to the right arm.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the golden award with rectangular black base.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the gold cup with side handles.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the golden award with rectangular black base by 0.10m.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the golden cup with black base.",
+    "Pick up the lightweight handheld microphone, avoid the gold cup with side handles by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the golden award with rectangular black base, hand to the right arm.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the golden award with rectangular black base.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the golden cup with black base.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the golden cup with black base by 0.10m.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the gold cup with side handles.",
+    "Pick up the black and white plastic microphone, avoid the golden cup with black base by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the golden award with rectangular black base, hand to the right arm.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the golden award with rectangular black base.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the gold cup with side handles.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the golden award with rectangular black base by 0.10m.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the gold cup with side handles.",
+    "Pick up the lightweight handheld microphone, avoid the golden award with rectangular black base by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the golden cup with black base, hand to the right arm.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the gold cup with side handles.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the gold cup with side handles.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the golden award with rectangular black base by 0.10m.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the golden cup with black base.",
+    "Pick up the microphone used for audio input, avoid the golden cup with black base by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the gold cup with side handles, hand to the right arm.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the gold cup with side handles.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the golden award with rectangular black base.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the golden award with rectangular black base by 0.10m.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the golden cup with black base.",
+    "Pick up the microphone used for audio input, avoid the gold cup with side handles by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the golden award with rectangular black base, hand to the right arm.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the golden cup with black base.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the golden award with rectangular black base.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the golden award with rectangular black base by 0.10m.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the golden award with rectangular black base.",
+    "Pick up the lightweight handheld microphone, avoid the gold cup with side handles by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the golden award with rectangular black base, hand to the right arm.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the golden award with rectangular black base.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the golden award with rectangular black base.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the golden award with rectangular black base by 0.10m.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the golden award with rectangular black base.",
+    "Pick up the microphone used for audio input, avoid the golden award with rectangular black base by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the golden cup with black base, hand to the right arm.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the golden award with rectangular black base.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the golden award with rectangular black base.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the gold cup with side handles by 0.10m.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the gold cup with side handles.",
+    "Pick up the black and white plastic microphone, avoid the golden cup with black base by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the golden cup with black base, hand to the right arm.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the gold cup with side handles.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the golden award with rectangular black base.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the gold cup with side handles by 0.10m.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the golden cup with black base.",
+    "Pick up the microphone used for audio input, avoid the golden cup with black base by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the golden award with rectangular black base, hand to the right arm.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the gold cup with side handles.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the gold cup with side handles.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the gold cup with side handles by 0.10m.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the golden award with rectangular black base.",
+    "Pick up the microphone used for audio input, avoid the golden cup with black base by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the golden cup with black base, hand to the right arm.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the golden cup with black base."
+  ]
+}
\ No newline at end of file
diff --git a/handover_mic_wp1/handover_mic_wp1/instructions/episode96.json b/handover_mic_wp1/handover_mic_wp1/instructions/episode96.json
new file mode 100644
index 0000000000000000000000000000000000000000..6883287af02b0d4c7d77ca751315102701e3668e
--- /dev/null
+++ b/handover_mic_wp1/handover_mic_wp1/instructions/episode96.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Move the black and white microphone from the left arm to the right arm while keeping clear of the golden award trophy with black base.",
+    "Pick up the microphone with rounded mesh head with the left arm, transfer to the right arm, stay away from the gold trophy on square black base.",
+    "Have the left arm grasp the microphone with black tip and white body, avoid the trophy with dangling ribbons by 0.10m, and transfer the microphone with black tip and white body to the right arm.",
+    "Get the microphone with black tip and white body with the left arm, shift the microphone with black tip and white body to the right arm, maintaining 0.10m from the gold trophy on square black base.",
+    "With the left arm, take the mesh-patterned microphone head, keep distance from the golden award trophy with black base, and give the mesh-patterned microphone head to the right arm.",
+    "Secure the microphone with black tip and white body, route it at least 0.10m from the gold trophy on square black base, then hand it over.",
+    "Use the left arm to lift the microphone with cylindrical handle, then give the microphone with cylindrical handle to the right arm, avoiding the black bottom trophy with smooth finish by 0.10m.",
+    "Lift the microphone with black tip and white body with the left arm, give the microphone with black tip and white body to the right arm, keep clear of the shiny trophy with top knob 0.10m.",
+    "Pick up the microphone with rounded mesh head, move it staying 0.10m from the cup-shaped trophy with handles, then complete the handoff.",
+    "Take the microphone with rounded mesh head with the left arm, route it away from the gold award cup with two handles, then hand it to the right arm.",
+    "Have the left arm take the microphone with rounded mesh head, then the right arm takes the microphone with rounded mesh head, keep 0.10m from the cup-shaped trophy with handles.",
+    "Take the microphone with rounded mesh head with the left arm, hand over to the right arm, keep the microphone with rounded mesh head 0.10m away from the medium-sized golden trophy.",
+    "With the left arm, grasp the metal head microphone, then hand the metal head microphone to the right arm, avoiding the cup-shaped trophy with handles.",
+    "Take the metal head microphone using the left arm, keep away from the cup-shaped trophy with handles, and pass to the right arm.",
+    "Using the left arm, grab the microphone with black tip and white body, keep 0.10m from the cup-shaped trophy with handles, then give the microphone with black tip and white body to the right arm.",
+    "Grab the smooth plastic microphone handle, carry it around the medium-sized golden trophy with 0.10m clearance, then hand over.",
+    "Pick up the black and white microphone using the left arm, transfer to the right arm, keep 0.10m from the black bottom trophy with smooth finish.",
+    "Lift the smooth plastic microphone handle, keep it 0.10m away from the cup-shaped trophy with handles, then pass it across.",
+    "Let the left arm grasp the microphone with black tip and white body, move it 0.10m from the cup-shaped trophy with handles, then the right arm receives.",
+    "Using the left arm, take the smooth plastic microphone handle and hand to the right arm, keeping 0.10m from the trophy with dangling ribbons.",
+    "Move the smooth plastic microphone handle from the left arm to the right arm while keeping clear of the black bottom trophy with smooth finish.",
+    "Pick up the mesh-patterned microphone head with the left arm, transfer to the right arm, stay away from the golden award trophy with black base.",
+    "Have the left arm grasp the handheld microphone, avoid the trophy with dangling ribbons by 0.10m, and transfer the handheld microphone to the right arm.",
+    "Get the black and white microphone with the left arm, shift the black and white microphone to the right arm, maintaining 0.10m from the medium-sized golden trophy.",
+    "With the left arm, take the microphone for voice recording, keep distance from the medium trophy with gold and black colors, and give the microphone for voice recording to the right arm.",
+    "Secure the microphone with black tip and white body, route it at least 0.10m from the shiny trophy with top knob, then hand it over.",
+    "Use the left arm to lift the microphone with textured metal head, then give the microphone with textured metal head to the right arm, avoiding the decorative trophy with curved handles by 0.10m.",
+    "Lift the microphone with textured metal head with the left arm, give the microphone with textured metal head to the right arm, keep clear of the gold trophy on square black base 0.10m.",
+    "Pick up the microphone with cylindrical handle, move it staying 0.10m from the cup-shaped trophy with handles, then complete the handoff.",
+    "Take the smooth plastic microphone handle with the left arm, route it away from the decorative trophy with curved handles, then hand it to the right arm.",
+    "Have the left arm take the microphone with rounded mesh head, then the right arm takes the microphone with rounded mesh head, keep 0.10m from the medium-sized golden trophy.",
+    "Take the microphone with textured metal head with the left arm, hand over to the right arm, keep the microphone with textured metal head 0.10m away from the gold trophy on square black base.",
+    "With the left arm, grasp the compact size microphone, then hand the compact size microphone to the right arm, avoiding the medium trophy with gold and black colors.",
+    "Take the smooth plastic microphone handle using the left arm, keep away from the trophy cup with curved sides, and pass to the right arm.",
+    "Using the left arm, grab the white microphone handle black accents, keep 0.10m from the shiny trophy with top knob, then give the white microphone handle black accents to the right arm.",
+    "Grab the microphone with black tip and white body, carry it around the gold trophy with 0.10m clearance, then hand over.",
+    "Pick up the microphone for voice recording using the left arm, transfer to the right arm, keep 0.10m from the trophy cup with curved sides.",
+    "Lift the microphone with rounded mesh head, keep it 0.10m away from the decorative trophy with curved handles, then pass it across.",
+    "Let the left arm grasp the mesh-patterned microphone head, move it 0.10m from the gold trophy on square black base, then the right arm receives.",
+    "Using the left arm, take the microphone with textured metal head and hand to the right arm, keeping 0.10m from the medium-sized golden trophy.",
+    "Move the mesh-patterned microphone head from the left arm to the right arm while keeping clear of the medium trophy with gold and black colors.",
+    "Pick up the white microphone handle black accents with the left arm, transfer to the right arm, stay away from the decorative trophy with curved handles.",
+    "Have the left arm grasp the microphone with textured metal head, avoid the decorative trophy with curved handles by 0.10m, and transfer the microphone with textured metal head to the right arm.",
+    "Get the compact size microphone with the left arm, shift the compact size microphone to the right arm, maintaining 0.10m from the golden award trophy with black base.",
+    "With the left arm, take the handheld microphone, keep distance from the black bottom trophy with smooth finish, and give the handheld microphone to the right arm.",
+    "Secure the handheld microphone, route it at least 0.10m from the cup-shaped trophy with handles, then hand it over.",
+    "Use the left arm to lift the microphone with black tip and white body, then give the microphone with black tip and white body to the right arm, avoiding the medium-sized golden trophy by 0.10m.",
+    "Lift the microphone with black tip and white body with the left arm, give the microphone with black tip and white body to the right arm, keep clear of the black bottom trophy with smooth finish 0.10m.",
+    "Pick up the microphone with rounded mesh head, move it staying 0.10m from the golden award trophy with black base, then complete the handoff.",
+    "Take the microphone with textured metal head with the left arm, route it away from the trophy cup with curved sides, then hand it to the right arm.",
+    "Have the left arm take the mesh-patterned microphone head, then the right arm takes the mesh-patterned microphone head, keep 0.10m from the black bottom trophy with smooth finish.",
+    "Take the compact size microphone with the left arm, hand over to the right arm, keep the compact size microphone 0.10m away from the cup-shaped trophy with handles.",
+    "With the left arm, grasp the microphone for voice recording, then hand the microphone for voice recording to the right arm, avoiding the black bottom trophy with smooth finish.",
+    "Take the handheld microphone using the left arm, keep away from the black bottom trophy with smooth finish, and pass to the right arm.",
+    "Using the left arm, grab the smooth plastic microphone handle, keep 0.10m from the gold trophy on square black base, then give the smooth plastic microphone handle to the right arm.",
+    "Grab the metal head microphone, carry it around the trophy with dangling ribbons with 0.10m clearance, then hand over.",
+    "Pick up the microphone with black tip and white body using the left arm, transfer to the right arm, keep 0.10m from the trophy with dangling ribbons.",
+    "Lift the microphone with rounded mesh head, keep it 0.10m away from the gold award cup with two handles, then pass it across.",
+    "Let the left arm grasp the microphone with cylindrical handle, move it 0.10m from the decorative trophy with curved handles, then the right arm receives.",
+    "Using the left arm, take the white microphone handle black accents and hand to the right arm, keeping 0.10m from the trophy with dangling ribbons.",
+    "Move the mesh-patterned microphone head from the left arm to the right arm while keeping clear of the medium trophy with gold and black colors.",
+    "Pick up the mesh-patterned microphone head with the left arm, transfer to the right arm, stay away from the golden award trophy with black base.",
+    "Have the left arm grasp the smooth plastic microphone handle, avoid the trophy cup with curved sides by 0.10m, and transfer the smooth plastic microphone handle to the right arm.",
+    "Get the microphone with rounded mesh head with the left arm, shift the microphone with rounded mesh head to the right arm, maintaining 0.10m from the cup-shaped trophy with handles.",
+    "With the left arm, take the smooth plastic microphone handle, keep distance from the medium trophy with gold and black colors, and give the smooth plastic microphone handle to the right arm.",
+    "Secure the smooth plastic microphone handle, route it at least 0.10m from the gold award cup with two handles, then hand it over.",
+    "Use the left arm to lift the microphone with rounded mesh head, then give the microphone with rounded mesh head to the right arm, avoiding the gold award cup with two handles by 0.10m.",
+    "Lift the microphone with cylindrical handle with the left arm, give the microphone with cylindrical handle to the right arm, keep clear of the medium-sized golden trophy 0.10m.",
+    "Pick up the microphone for voice recording, move it staying 0.10m from the gold trophy, then complete the handoff.",
+    "Take the microphone for voice recording with the left arm, route it away from the gold award cup with two handles, then hand it to the right arm.",
+    "Have the left arm take the mesh-patterned microphone head, then the right arm takes the mesh-patterned microphone head, keep 0.10m from the decorative trophy with curved handles.",
+    "Take the microphone with black tip and white body with the left arm, hand over to the right arm, keep the microphone with black tip and white body 0.10m away from the trophy cup with curved sides.",
+    "With the left arm, grasp the black and white microphone, then hand the black and white microphone to the right arm, avoiding the cup-shaped trophy with handles.",
+    "Take the smooth plastic microphone handle using the left arm, keep away from the gold award cup with two handles, and pass to the right arm.",
+    "Using the left arm, grab the microphone for voice recording, keep 0.10m from the cup-shaped trophy with handles, then give the microphone for voice recording to the right arm.",
+    "Grab the microphone with cylindrical handle, carry it around the black bottom trophy with smooth finish with 0.10m clearance, then hand over.",
+    "Pick up the smooth plastic microphone handle using the left arm, transfer to the right arm, keep 0.10m from the gold trophy on square black base.",
+    "Lift the compact size microphone, keep it 0.10m away from the gold trophy, then pass it across.",
+    "Let the left arm grasp the white microphone handle black accents, move it 0.10m from the cup-shaped trophy with handles, then the right arm receives.",
+    "Using the left arm, take the white microphone handle black accents and hand to the right arm, keeping 0.10m from the gold trophy.",
+    "Move the microphone with textured metal head from the left arm to the right arm while keeping clear of the trophy with dangling ribbons.",
+    "Pick up the black and white microphone with the left arm, transfer to the right arm, stay away from the medium-sized golden trophy.",
+    "Have the left arm grasp the black and white microphone, avoid the medium trophy with gold and black colors by 0.10m, and transfer the black and white microphone to the right arm.",
+    "Get the mesh-patterned microphone head with the left arm, shift the mesh-patterned microphone head to the right arm, maintaining 0.10m from the trophy with dangling ribbons.",
+    "With the left arm, take the microphone with black tip and white body, keep distance from the trophy cup with curved sides, and give the microphone with black tip and white body to the right arm.",
+    "Secure the microphone for voice recording, route it at least 0.10m from the cup-shaped trophy with handles, then hand it over.",
+    "Use the left arm to lift the compact size microphone, then give the compact size microphone to the right arm, avoiding the trophy cup with curved sides by 0.10m.",
+    "Lift the handheld microphone with the left arm, give the handheld microphone to the right arm, keep clear of the golden award trophy with black base 0.10m.",
+    "Pick up the microphone with cylindrical handle, move it staying 0.10m from the gold trophy on square black base, then complete the handoff.",
+    "Take the handheld microphone with the left arm, route it away from the decorative trophy with curved handles, then hand it to the right arm.",
+    "Have the left arm take the black and white microphone, then the right arm takes the black and white microphone, keep 0.10m from the black bottom trophy with smooth finish.",
+    "Take the microphone with cylindrical handle with the left arm, hand over to the right arm, keep the microphone with cylindrical handle 0.10m away from the trophy with dangling ribbons.",
+    "With the left arm, grasp the microphone with textured metal head, then hand the microphone with textured metal head to the right arm, avoiding the gold trophy on square black base.",
+    "Take the microphone with textured metal head using the left arm, keep away from the medium-sized golden trophy, and pass to the right arm.",
+    "Using the left arm, grab the compact size microphone, keep 0.10m from the medium trophy with gold and black colors, then give the compact size microphone to the right arm.",
+    "Grab the microphone with cylindrical handle, carry it around the trophy with dangling ribbons with 0.10m clearance, then hand over.",
+    "Pick up the metal head microphone using the left arm, transfer to the right arm, keep 0.10m from the medium-sized golden trophy.",
+    "Lift the compact size microphone, keep it 0.10m away from the medium-sized golden trophy, then pass it across.",
+    "Let the left arm grasp the microphone with cylindrical handle, move it 0.10m from the black bottom trophy with smooth finish, then the right arm receives.",
+    "Using the left arm, take the black and white microphone and hand to the right arm, keeping 0.10m from the gold trophy."
+  ],
+  "unseen": [
+    "Pick up the black and white plastic microphone, avoid the trophy with red and blue ribbons by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the trophy with red and blue ribbons.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the shiny trophy cup.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the smooth golden trophy.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the shiny trophy cup by 0.10m.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the smooth golden trophy, hand to the right arm.",
+    "Pick up the black and white plastic microphone, avoid the shiny trophy cup by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the smooth golden trophy.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the smooth golden trophy.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the trophy with red and blue ribbons.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the shiny trophy cup by 0.10m.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the shiny trophy cup, hand to the right arm.",
+    "Pick up the black and white plastic microphone, avoid the shiny trophy cup by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the trophy with red and blue ribbons.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the trophy with red and blue ribbons.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the smooth golden trophy.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the smooth golden trophy by 0.10m.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the smooth golden trophy, hand to the right arm.",
+    "Pick up the lightweight handheld microphone, avoid the shiny trophy cup by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the trophy with red and blue ribbons.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the smooth golden trophy.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the trophy with red and blue ribbons.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the shiny trophy cup by 0.10m.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the shiny trophy cup, hand to the right arm.",
+    "Pick up the black and white plastic microphone, avoid the trophy with red and blue ribbons by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the shiny trophy cup.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the trophy with red and blue ribbons.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the shiny trophy cup.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the shiny trophy cup by 0.10m.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the trophy with red and blue ribbons, hand to the right arm.",
+    "Pick up the microphone used for audio input, avoid the trophy with red and blue ribbons by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the shiny trophy cup.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the shiny trophy cup.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the trophy with red and blue ribbons.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the shiny trophy cup by 0.10m.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the smooth golden trophy, hand to the right arm.",
+    "Pick up the lightweight handheld microphone, avoid the shiny trophy cup by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the smooth golden trophy.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the trophy with red and blue ribbons.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the shiny trophy cup.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the shiny trophy cup by 0.10m.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the trophy with red and blue ribbons, hand to the right arm.",
+    "Pick up the black and white plastic microphone, avoid the smooth golden trophy by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the shiny trophy cup.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the smooth golden trophy.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the smooth golden trophy.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the smooth golden trophy by 0.10m.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the shiny trophy cup, hand to the right arm.",
+    "Pick up the lightweight handheld microphone, avoid the shiny trophy cup by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the smooth golden trophy.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the smooth golden trophy.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the trophy with red and blue ribbons.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the shiny trophy cup by 0.10m.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the trophy with red and blue ribbons, hand to the right arm.",
+    "Pick up the lightweight handheld microphone, avoid the smooth golden trophy by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the trophy with red and blue ribbons.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the trophy with red and blue ribbons.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the smooth golden trophy.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the shiny trophy cup by 0.10m.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the smooth golden trophy, hand to the right arm.",
+    "Pick up the microphone used for audio input, avoid the smooth golden trophy by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the smooth golden trophy.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the shiny trophy cup.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the shiny trophy cup.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the shiny trophy cup, hand to the right arm.",
+    "Pick up the microphone used for audio input, avoid the smooth golden trophy by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the smooth golden trophy.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the trophy with red and blue ribbons.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the shiny trophy cup.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the shiny trophy cup by 0.10m.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the trophy with red and blue ribbons, hand to the right arm.",
+    "Pick up the microphone used for audio input, avoid the trophy with red and blue ribbons by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the shiny trophy cup.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the shiny trophy cup.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the trophy with red and blue ribbons.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the shiny trophy cup by 0.10m.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the trophy with red and blue ribbons, hand to the right arm.",
+    "Pick up the lightweight handheld microphone, avoid the shiny trophy cup by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the shiny trophy cup.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the shiny trophy cup.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the shiny trophy cup.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the smooth golden trophy by 0.10m.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the smooth golden trophy, hand to the right arm.",
+    "Pick up the lightweight handheld microphone, avoid the shiny trophy cup by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the trophy with red and blue ribbons.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the trophy with red and blue ribbons.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the trophy with red and blue ribbons.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the shiny trophy cup by 0.10m.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the trophy with red and blue ribbons, hand to the right arm.",
+    "Pick up the lightweight handheld microphone, avoid the shiny trophy cup by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the smooth golden trophy.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the trophy with red and blue ribbons.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the smooth golden trophy.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the smooth golden trophy, hand to the right arm.",
+    "Pick up the microphone used for audio input, avoid the shiny trophy cup by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the trophy with red and blue ribbons.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the trophy with red and blue ribbons.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the smooth golden trophy."
+  ]
+}
\ No newline at end of file
diff --git a/handover_mic_wp1/handover_mic_wp1/instructions/episode97.json b/handover_mic_wp1/handover_mic_wp1/instructions/episode97.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc271335a73674cd3846ee762562ecb2b114c332
--- /dev/null
+++ b/handover_mic_wp1/handover_mic_wp1/instructions/episode97.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the microphone with black tip and white body, keep it 0.10m away from the trophy with curved handles, then pass it across.",
+    "Have the left arm take the microphone with rounded mesh head, then the right arm takes the microphone with rounded mesh head, keep 0.10m from the decorative trophy with shiny finish.",
+    "Lift the metal head microphone with the left arm, give the metal head microphone to the right arm, keep clear of the cup-shaped trophy 0.10m.",
+    "Let the left arm grasp the handheld microphone, move it 0.10m from the award trophy, then the right arm receives.",
+    "Get the microphone for voice recording with the left arm, shift the microphone for voice recording to the right arm, maintaining 0.10m from the award trophy.",
+    "Grab the handheld microphone, carry it around the medium trophy with pedestal base with 0.10m clearance, then hand over.",
+    "With the left arm, grasp the compact size microphone, then hand the compact size microphone to the right arm, avoiding the trophy with smooth golden surface.",
+    "Have the left arm grasp the mesh-patterned microphone head, avoid the medium trophy with pedestal base by 0.10m, and transfer the mesh-patterned microphone head to the right arm.",
+    "With the left arm, take the microphone with black tip and white body, keep distance from the award trophy, and give the microphone with black tip and white body to the right arm.",
+    "Secure the white microphone handle black accents, route it at least 0.10m from the smooth gold cup with sturdy pedestal, then hand it over.",
+    "Take the white microphone handle black accents with the left arm, hand over to the right arm, keep the white microphone handle black accents 0.10m away from the trophy with smooth golden surface.",
+    "Pick up the mesh-patterned microphone head, move it staying 0.10m from the decorative trophy with shiny finish, then complete the handoff.",
+    "Take the white microphone handle black accents with the left arm, route it away from the trophy with smooth golden surface, then hand it to the right arm.",
+    "Using the left arm, grab the compact size microphone, keep 0.10m from the trophy with curved handles, then give the compact size microphone to the right arm.",
+    "Take the compact size microphone using the left arm, keep away from the trophy cup, and pass to the right arm.",
+    "Use the left arm to lift the microphone for voice recording, then give the microphone for voice recording to the right arm, avoiding the gold prize cup by 0.10m.",
+    "Pick up the metal head microphone with the left arm, transfer to the right arm, stay away from the gold-colored prize cup with solid base.",
+    "Move the handheld microphone from the left arm to the right arm while keeping clear of the gold trophy.",
+    "Using the left arm, take the microphone with black tip and white body and hand to the right arm, keeping 0.10m from the trophy with smooth golden surface.",
+    "Pick up the compact size microphone using the left arm, transfer to the right arm, keep 0.10m from the trophy cup.",
+    "Lift the mesh-patterned microphone head, keep it 0.10m away from the trophy cup, then pass it across.",
+    "Have the left arm take the handheld microphone, then the right arm takes the handheld microphone, keep 0.10m from the smooth gold cup with sturdy pedestal.",
+    "Lift the black and white microphone with the left arm, give the black and white microphone to the right arm, keep clear of the gold prize cup 0.10m.",
+    "Let the left arm grasp the microphone with rounded mesh head, move it 0.10m from the smooth gold cup with sturdy pedestal, then the right arm receives.",
+    "Get the microphone with cylindrical handle with the left arm, shift the microphone with cylindrical handle to the right arm, maintaining 0.10m from the cup-shaped trophy.",
+    "Grab the microphone with black tip and white body, carry it around the trophy with smooth golden surface with 0.10m clearance, then hand over.",
+    "With the left arm, grasp the metal head microphone, then hand the metal head microphone to the right arm, avoiding the award trophy.",
+    "Have the left arm grasp the microphone with black tip and white body, avoid the trophy cup by 0.10m, and transfer the microphone with black tip and white body to the right arm.",
+    "With the left arm, take the microphone with textured metal head, keep distance from the shiny gold cup with black stand, and give the microphone with textured metal head to the right arm.",
+    "Secure the metal head microphone, route it at least 0.10m from the gold trophy, then hand it over.",
+    "Take the black and white microphone with the left arm, hand over to the right arm, keep the black and white microphone 0.10m away from the award trophy.",
+    "Pick up the microphone with textured metal head, move it staying 0.10m from the trophy with curved handles, then complete the handoff.",
+    "Take the handheld microphone with the left arm, route it away from the decorative trophy with shiny finish, then hand it to the right arm.",
+    "Using the left arm, grab the metal head microphone, keep 0.10m from the trophy with curved handles, then give the metal head microphone to the right arm.",
+    "Take the white microphone handle black accents using the left arm, keep away from the smooth gold cup with sturdy pedestal, and pass to the right arm.",
+    "Use the left arm to lift the microphone with rounded mesh head, then give the microphone with rounded mesh head to the right arm, avoiding the trophy with curved handles by 0.10m.",
+    "Pick up the white microphone handle black accents with the left arm, transfer to the right arm, stay away from the smooth gold cup with sturdy pedestal.",
+    "Move the microphone for voice recording from the left arm to the right arm while keeping clear of the gold trophy.",
+    "Using the left arm, take the smooth plastic microphone handle and hand to the right arm, keeping 0.10m from the decorative trophy with shiny finish.",
+    "Pick up the handheld microphone using the left arm, transfer to the right arm, keep 0.10m from the decorative trophy with shiny finish.",
+    "Lift the microphone with textured metal head, keep it 0.10m away from the gold trophy, then pass it across.",
+    "Have the left arm take the microphone with black tip and white body, then the right arm takes the microphone with black tip and white body, keep 0.10m from the cup-shaped trophy.",
+    "Lift the microphone with black tip and white body with the left arm, give the microphone with black tip and white body to the right arm, keep clear of the trophy cup 0.10m.",
+    "Let the left arm grasp the metal head microphone, move it 0.10m from the award trophy, then the right arm receives.",
+    "Get the handheld microphone with the left arm, shift the handheld microphone to the right arm, maintaining 0.10m from the smooth gold cup with sturdy pedestal.",
+    "Grab the handheld microphone, carry it around the smooth gold cup with sturdy pedestal with 0.10m clearance, then hand over.",
+    "With the left arm, grasp the microphone for voice recording, then hand the microphone for voice recording to the right arm, avoiding the trophy cup.",
+    "Have the left arm grasp the microphone for voice recording, avoid the award trophy by 0.10m, and transfer the microphone for voice recording to the right arm.",
+    "With the left arm, take the compact size microphone, keep distance from the smooth gold cup with sturdy pedestal, and give the compact size microphone to the right arm.",
+    "Secure the microphone with rounded mesh head, route it at least 0.10m from the gold trophy, then hand it over.",
+    "Take the black and white microphone with the left arm, hand over to the right arm, keep the black and white microphone 0.10m away from the gold-colored prize cup with solid base.",
+    "Pick up the microphone with black tip and white body, move it staying 0.10m from the cup-shaped trophy, then complete the handoff.",
+    "Take the smooth plastic microphone handle with the left arm, route it away from the gold trophy, then hand it to the right arm.",
+    "Using the left arm, grab the microphone with black tip and white body, keep 0.10m from the gold prize cup, then give the microphone with black tip and white body to the right arm.",
+    "Take the handheld microphone using the left arm, keep away from the trophy with smooth golden surface, and pass to the right arm.",
+    "Use the left arm to lift the microphone with rounded mesh head, then give the microphone with rounded mesh head to the right arm, avoiding the award trophy by 0.10m.",
+    "Pick up the microphone with rounded mesh head with the left arm, transfer to the right arm, stay away from the medium trophy with pedestal base.",
+    "Move the smooth plastic microphone handle from the left arm to the right arm while keeping clear of the trophy with curved handles.",
+    "Using the left arm, take the microphone with textured metal head and hand to the right arm, keeping 0.10m from the medium trophy with pedestal base.",
+    "Pick up the microphone for voice recording using the left arm, transfer to the right arm, keep 0.10m from the decorative trophy with shiny finish.",
+    "Lift the microphone with textured metal head, keep it 0.10m away from the shiny gold cup with black stand, then pass it across.",
+    "Have the left arm take the microphone with black tip and white body, then the right arm takes the microphone with black tip and white body, keep 0.10m from the medium trophy with pedestal base.",
+    "Lift the microphone for voice recording with the left arm, give the microphone for voice recording to the right arm, keep clear of the decorative trophy with shiny finish 0.10m.",
+    "Let the left arm grasp the handheld microphone, move it 0.10m from the cup-shaped trophy, then the right arm receives.",
+    "Get the black and white microphone with the left arm, shift the black and white microphone to the right arm, maintaining 0.10m from the trophy with curved handles.",
+    "Grab the metal head microphone, carry it around the trophy cup with 0.10m clearance, then hand over.",
+    "With the left arm, grasp the microphone with black tip and white body, then hand the microphone with black tip and white body to the right arm, avoiding the cup-shaped trophy.",
+    "Have the left arm grasp the mesh-patterned microphone head, avoid the cup-shaped trophy by 0.10m, and transfer the mesh-patterned microphone head to the right arm.",
+    "With the left arm, take the microphone for voice recording, keep distance from the decorative trophy with shiny finish, and give the microphone for voice recording to the right arm.",
+    "Secure the microphone with black tip and white body, route it at least 0.10m from the gold-colored prize cup with solid base, then hand it over.",
+    "Take the compact size microphone with the left arm, hand over to the right arm, keep the compact size microphone 0.10m away from the trophy with curved handles.",
+    "Pick up the smooth plastic microphone handle, move it staying 0.10m from the trophy with smooth golden surface, then complete the handoff.",
+    "Take the microphone with cylindrical handle with the left arm, route it away from the award trophy, then hand it to the right arm.",
+    "Using the left arm, grab the compact size microphone, keep 0.10m from the medium trophy with pedestal base, then give the compact size microphone to the right arm.",
+    "Take the white microphone handle black accents using the left arm, keep away from the gold trophy, and pass to the right arm.",
+    "Use the left arm to lift the microphone for voice recording, then give the microphone for voice recording to the right arm, avoiding the award trophy by 0.10m.",
+    "Pick up the microphone with black tip and white body with the left arm, transfer to the right arm, stay away from the trophy cup.",
+    "Move the white microphone handle black accents from the left arm to the right arm while keeping clear of the award trophy.",
+    "Using the left arm, take the black and white microphone and hand to the right arm, keeping 0.10m from the trophy with curved handles.",
+    "Pick up the microphone with black tip and white body using the left arm, transfer to the right arm, keep 0.10m from the cup-shaped trophy.",
+    "Lift the microphone with black tip and white body, keep it 0.10m away from the gold-colored prize cup with solid base, then pass it across.",
+    "Have the left arm take the smooth plastic microphone handle, then the right arm takes the smooth plastic microphone handle, keep 0.10m from the medium trophy with pedestal base.",
+    "Lift the smooth plastic microphone handle with the left arm, give the smooth plastic microphone handle to the right arm, keep clear of the award trophy 0.10m.",
+    "Let the left arm grasp the microphone with black tip and white body, move it 0.10m from the award trophy, then the right arm receives.",
+    "Get the white microphone handle black accents with the left arm, shift the white microphone handle black accents to the right arm, maintaining 0.10m from the trophy with curved handles.",
+    "Grab the microphone with cylindrical handle, carry it around the trophy with smooth golden surface with 0.10m clearance, then hand over.",
+    "With the left arm, grasp the handheld microphone, then hand the handheld microphone to the right arm, avoiding the trophy with curved handles.",
+    "Have the left arm grasp the microphone for voice recording, avoid the decorative trophy with shiny finish by 0.10m, and transfer the microphone for voice recording to the right arm.",
+    "With the left arm, take the white microphone handle black accents, keep distance from the shiny gold cup with black stand, and give the white microphone handle black accents to the right arm.",
+    "Secure the handheld microphone, route it at least 0.10m from the trophy with smooth golden surface, then hand it over.",
+    "Take the compact size microphone with the left arm, hand over to the right arm, keep the compact size microphone 0.10m away from the cup-shaped trophy.",
+    "Pick up the compact size microphone, move it staying 0.10m from the award trophy, then complete the handoff.",
+    "Take the microphone with rounded mesh head with the left arm, route it away from the medium trophy with pedestal base, then hand it to the right arm.",
+    "Using the left arm, grab the microphone with rounded mesh head, keep 0.10m from the trophy with smooth golden surface, then give the microphone with rounded mesh head to the right arm.",
+    "Take the compact size microphone using the left arm, keep away from the gold prize cup, and pass to the right arm.",
+    "Use the left arm to lift the microphone with textured metal head, then give the microphone with textured metal head to the right arm, avoiding the cup-shaped trophy by 0.10m.",
+    "Pick up the mesh-patterned microphone head with the left arm, transfer to the right arm, stay away from the cup-shaped trophy.",
+    "Move the mesh-patterned microphone head from the left arm to the right arm while keeping clear of the smooth gold cup with sturdy pedestal.",
+    "Using the left arm, take the metal head microphone and hand to the right arm, keeping 0.10m from the trophy with smooth golden surface.",
+    "Pick up the compact size microphone using the left arm, transfer to the right arm, keep 0.10m from the smooth gold cup with sturdy pedestal."
+  ],
+  "unseen": [
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the gold cup with side handles, hand to the right arm.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the gold cup with side handles.",
+    "Pick up the lightweight handheld microphone, avoid the golden cup with black base by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the gold cup with side handles.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the gold cup with side handles by 0.10m.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the golden award with rectangular black base.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the golden award with rectangular black base, hand to the right arm.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the golden award with rectangular black base.",
+    "Pick up the black and white plastic microphone, avoid the gold cup with side handles by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the gold cup with side handles.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the gold cup with side handles by 0.10m.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the golden cup with black base.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the golden award with rectangular black base, hand to the right arm.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the golden award with rectangular black base.",
+    "Pick up the black and white plastic microphone, avoid the golden award with rectangular black base by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the gold cup with side handles.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the gold cup with side handles by 0.10m.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the golden award with rectangular black base.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the gold cup with side handles, hand to the right arm.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the gold cup with side handles.",
+    "Pick up the microphone used for audio input, avoid the gold cup with side handles by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the golden cup with black base.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the gold cup with side handles by 0.10m.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the golden cup with black base.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the gold cup with side handles, hand to the right arm.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the golden cup with black base.",
+    "Pick up the microphone used for audio input, avoid the golden award with rectangular black base by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the golden award with rectangular black base.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the gold cup with side handles by 0.10m.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the gold cup with side handles.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the golden award with rectangular black base, hand to the right arm.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the golden cup with black base.",
+    "Pick up the lightweight handheld microphone, avoid the golden cup with black base by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the gold cup with side handles.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the gold cup with side handles by 0.10m.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the gold cup with side handles.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the golden cup with black base, hand to the right arm.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the golden award with rectangular black base.",
+    "Pick up the lightweight handheld microphone, avoid the gold cup with side handles by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the golden award with rectangular black base.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the golden cup with black base by 0.10m.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the gold cup with side handles.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the golden cup with black base, hand to the right arm.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the golden cup with black base.",
+    "Pick up the black and white plastic microphone, avoid the gold cup with side handles by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the gold cup with side handles.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the golden award with rectangular black base by 0.10m.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the gold cup with side handles.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the golden cup with black base, hand to the right arm.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the golden cup with black base.",
+    "Pick up the microphone used for audio input, avoid the gold cup with side handles by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the gold cup with side handles.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the golden cup with black base by 0.10m.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the gold cup with side handles.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the golden cup with black base, hand to the right arm.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the golden cup with black base.",
+    "Pick up the lightweight handheld microphone, avoid the golden award with rectangular black base by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the golden cup with black base.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the gold cup with side handles by 0.10m.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the golden cup with black base.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the golden cup with black base, hand to the right arm.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the gold cup with side handles.",
+    "Pick up the lightweight handheld microphone, avoid the gold cup with side handles by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the gold cup with side handles.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the golden award with rectangular black base by 0.10m.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the golden cup with black base.",
+    "Grab the black and white plastic microphone with the left arm, keep 0.10m from the gold cup with side handles, hand to the right arm.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the golden cup with black base.",
+    "Pick up the microphone used for audio input, avoid the gold cup with side handles by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the golden award with rectangular black base.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the golden award with rectangular black base by 0.10m.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the golden cup with black base.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the golden cup with black base, hand to the right arm.",
+    "Use the left arm to grab the microphone used for audio input, pass to the right arm, keep the microphone used for audio input 0.10m from the golden award with rectangular black base.",
+    "Pick up the microphone used for audio input, avoid the golden award with rectangular black base by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the gold cup with side handles.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the golden award with rectangular black base by 0.10m.",
+    "Use the left arm to grab the lightweight handheld microphone, then pass it to the right arm, avoiding the gold cup with side handles.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the gold cup with side handles, hand to the right arm.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the gold cup with side handles.",
+    "Pick up the black and white plastic microphone, avoid the golden award with rectangular black base by 0.10m, pass the black and white plastic microphone from the left arm to the right arm.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the gold cup with side handles.",
+    "Grab the black and white plastic microphone with the left arm, hand it to the right arm, avoiding the golden cup with black base by 0.10m.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the gold cup with side handles.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the golden cup with black base, hand to the right arm.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the golden award with rectangular black base.",
+    "Pick up the microphone used for audio input, avoid the golden award with rectangular black base by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "With the left arm, grab the lightweight handheld microphone, pass to the right arm, keeping the lightweight handheld microphone 0.10m from the gold cup with side handles.",
+    "Grab the lightweight handheld microphone with the left arm, hand it to the right arm, avoiding the gold cup with side handles by 0.10m.",
+    "Use the left arm to grab the black and white plastic microphone, then pass it to the right arm, avoiding the golden cup with black base.",
+    "Grab the lightweight handheld microphone with the left arm, keep 0.10m from the golden cup with black base, hand to the right arm.",
+    "Use the left arm to grab the black and white plastic microphone, pass to the right arm, keep the black and white plastic microphone 0.10m from the gold cup with side handles.",
+    "Pick up the microphone used for audio input, avoid the gold cup with side handles by 0.10m, pass the microphone used for audio input from the left arm to the right arm.",
+    "With the left arm, grab the black and white plastic microphone, pass to the right arm, keeping the black and white plastic microphone 0.10m from the golden award with rectangular black base.",
+    "Grab the microphone used for audio input with the left arm, hand it to the right arm, avoiding the gold cup with side handles by 0.10m.",
+    "Use the left arm to grab the microphone used for audio input, then pass it to the right arm, avoiding the golden award with rectangular black base.",
+    "Grab the microphone used for audio input with the left arm, keep 0.10m from the golden cup with black base, hand to the right arm.",
+    "Use the left arm to grab the lightweight handheld microphone, pass to the right arm, keep the lightweight handheld microphone 0.10m from the golden award with rectangular black base.",
+    "Pick up the lightweight handheld microphone, avoid the golden award with rectangular black base by 0.10m, pass the lightweight handheld microphone from the left arm to the right arm.",
+    "With the left arm, grab the microphone used for audio input, pass to the right arm, keeping the microphone used for audio input 0.10m from the golden cup with black base."
+  ]
+}
\ No newline at end of file
diff --git a/handover_mic_wp1/handover_mic_wp1/instructions/episode98.json b/handover_mic_wp1/handover_mic_wp1/instructions/episode98.json
new file mode 100644
index 0000000000000000000000000000000000000000..133b940997bcdcafb052f55d5643790926ecf01b
--- /dev/null
+++ b/handover_mic_wp1/handover_mic_wp1/instructions/episode98.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the microphone for recording sound with the right arm, give the microphone for recording sound to the left arm, keep clear of the two-handled prize trophy 0.10m.",
+    "Pick up the medium microphone with two-tone color with the right arm, transfer to the left arm, stay away from the award trophy.",
+    "Take the microphone covered with foam tip with the right arm, route it away from the gold cup with handles, then hand it to the left arm.",
+    "Using the right arm, take the gray and dark blue microphone and hand to the left arm, keeping 0.10m from the smooth gold cup-shaped trophy.",
+    "Have the right arm grasp the medium microphone with two-tone color, avoid the golden trophy by 0.10m, and transfer the medium microphone with two-tone color to the left arm.",
+    "With the right arm, take the gray and dark blue microphone, keep distance from the award trophy, and give the gray and dark blue microphone to the left arm.",
+    "Get the microphone covered with foam tip with the right arm, shift the microphone covered with foam tip to the left arm, maintaining 0.10m from the medium-sized yellow trophy.",
+    "Pick up the audio microphone with soft covering using the right arm, transfer to the left arm, keep 0.10m from the two-handled prize trophy.",
+    "Lift the gray stem microphone with foam top, keep it 0.10m away from the trophy cup, then pass it across.",
+    "Pick up the medium microphone with two-tone color, move it staying 0.10m from the golden trophy, then complete the handoff.",
+    "Move the gray stem microphone with foam top from the right arm to the left arm while keeping clear of the golden trophy.",
+    "Secure the microphone with smooth gray stem, route it at least 0.10m from the decorative trophy with curved handles, then hand it over.",
+    "Use the right arm to lift the gray and dark blue microphone, then give the gray and dark blue microphone to the left arm, avoiding the two-handled prize trophy by 0.10m.",
+    "Take the audio microphone with soft covering using the right arm, keep away from the golden trophy, and pass to the left arm.",
+    "Let the right arm grasp the round head microphone, move it 0.10m from the award cup with orange highlights, then the left arm receives.",
+    "With the right arm, grasp the microphone for recording sound, then hand the microphone for recording sound to the left arm, avoiding the smooth gold cup-shaped trophy.",
+    "Have the right arm take the audio microphone with soft covering, then the left arm takes the audio microphone with soft covering, keep 0.10m from the glossy yellow trophy with base.",
+    "Using the right arm, grab the microphone with round foam head, keep 0.10m from the award trophy, then give the microphone with round foam head to the left arm.",
+    "Take the audio microphone with soft covering with the right arm, hand over to the left arm, keep the audio microphone with soft covering 0.10m away from the medium-sized yellow trophy.",
+    "Grab the dark blue microphone, carry it around the shiny golden prize trophy with 0.10m clearance, then hand over.",
+    "Lift the microphone with smooth gray stem with the right arm, give the microphone with smooth gray stem to the left arm, keep clear of the shiny golden prize trophy 0.10m.",
+    "Pick up the dark blue microphone with the right arm, transfer to the left arm, stay away from the golden award with orange edges.",
+    "Take the microphone with smooth gray stem with the right arm, route it away from the medium-sized yellow trophy, then hand it to the left arm.",
+    "Using the right arm, take the dark blue microphone and hand to the left arm, keeping 0.10m from the award cup with orange highlights.",
+    "Have the right arm grasp the small audio microphone, avoid the medium-sized yellow trophy by 0.10m, and transfer the small audio microphone to the left arm.",
+    "With the right arm, take the small audio microphone, keep distance from the golden trophy, and give the small audio microphone to the left arm.",
+    "Get the microphone with smooth gray stem with the right arm, shift the microphone with smooth gray stem to the left arm, maintaining 0.10m from the gold cup with handles.",
+    "Pick up the gray stem microphone with foam top using the right arm, transfer to the left arm, keep 0.10m from the trophy cup.",
+    "Lift the microphone with dark blue padding, keep it 0.10m away from the shiny golden prize trophy, then pass it across.",
+    "Pick up the microphone with dark blue padding, move it staying 0.10m from the smooth gold cup-shaped trophy, then complete the handoff.",
+    "Move the microphone covered with foam tip from the right arm to the left arm while keeping clear of the trophy cup.",
+    "Secure the gray stem microphone with foam top, route it at least 0.10m from the gold cup with handles, then hand it over.",
+    "Use the right arm to lift the round head microphone, then give the round head microphone to the left arm, avoiding the award cup with orange highlights by 0.10m.",
+    "Take the round head microphone using the right arm, keep away from the medium-sized yellow trophy, and pass to the left arm.",
+    "Let the right arm grasp the microphone with round foam head, move it 0.10m from the two-handled prize trophy, then the left arm receives.",
+    "With the right arm, grasp the round head microphone, then hand the round head microphone to the left arm, avoiding the two-handled prize trophy.",
+    "Have the right arm take the dark blue microphone, then the left arm takes the dark blue microphone, keep 0.10m from the gold cup with handles.",
+    "Using the right arm, grab the medium microphone with two-tone color, keep 0.10m from the award cup with orange highlights, then give the medium microphone with two-tone color to the left arm.",
+    "Take the audio microphone with soft covering with the right arm, hand over to the left arm, keep the audio microphone with soft covering 0.10m away from the golden trophy.",
+    "Grab the audio microphone with soft covering, carry it around the golden trophy with 0.10m clearance, then hand over.",
+    "Lift the gray stem microphone with foam top with the right arm, give the gray stem microphone with foam top to the left arm, keep clear of the trophy cup 0.10m.",
+    "Pick up the small audio microphone with the right arm, transfer to the left arm, stay away from the golden award with orange edges.",
+    "Take the microphone with dark blue padding with the right arm, route it away from the award trophy, then hand it to the left arm.",
+    "Using the right arm, take the microphone with dark blue padding and hand to the left arm, keeping 0.10m from the shiny golden prize trophy.",
+    "Have the right arm grasp the microphone covered with foam tip, avoid the gold cup with handles by 0.10m, and transfer the microphone covered with foam tip to the left arm.",
+    "With the right arm, take the dark blue microphone, keep distance from the award trophy, and give the dark blue microphone to the left arm.",
+    "Get the dark blue microphone with the right arm, shift the dark blue microphone to the left arm, maintaining 0.10m from the golden award with orange edges.",
+    "Pick up the gray stem microphone with foam top using the right arm, transfer to the left arm, keep 0.10m from the decorative trophy with curved handles.",
+    "Lift the microphone with dark blue padding, keep it 0.10m away from the glossy yellow trophy with base, then pass it across.",
+    "Pick up the audio microphone with soft covering, move it staying 0.10m from the decorative trophy with curved handles, then complete the handoff.",
+    "Move the microphone covered with foam tip from the right arm to the left arm while keeping clear of the decorative trophy with curved handles.",
+    "Secure the small audio microphone, route it at least 0.10m from the decorative trophy with curved handles, then hand it over.",
+    "Use the right arm to lift the audio microphone with soft covering, then give the audio microphone with soft covering to the left arm, avoiding the glossy yellow trophy with base by 0.10m.",
+    "Take the microphone for recording sound using the right arm, keep away from the award cup with orange highlights, and pass to the left arm.",
+    "Let the right arm grasp the medium microphone with two-tone color, move it 0.10m from the award cup with orange highlights, then the left arm receives.",
+    "With the right arm, grasp the microphone for recording sound, then hand the microphone for recording sound to the left arm, avoiding the award cup with orange highlights.",
+    "Have the right arm take the gray and dark blue microphone, then the left arm takes the gray and dark blue microphone, keep 0.10m from the glossy yellow trophy with base.",
+    "Using the right arm, grab the microphone with dark blue padding, keep 0.10m from the gold cup with handles, then give the microphone with dark blue padding to the left arm.",
+    "Take the gray stem microphone with foam top with the right arm, hand over to the left arm, keep the gray stem microphone with foam top 0.10m away from the two-handled prize trophy.",
+    "Grab the small audio microphone, carry it around the award cup with orange highlights with 0.10m clearance, then hand over.",
+    "Lift the round head microphone with the right arm, give the round head microphone to the left arm, keep clear of the award trophy 0.10m.",
+    "Pick up the dark blue microphone with the right arm, transfer to the left arm, stay away from the two-handled prize trophy.",
+    "Take the microphone with round foam head with the right arm, route it away from the trophy cup, then hand it to the left arm.",
+    "Using the right arm, take the microphone with dark blue padding and hand to the left arm, keeping 0.10m from the award cup with orange highlights.",
+    "Have the right arm grasp the round head microphone, avoid the golden award with orange edges by 0.10m, and transfer the round head microphone to the left arm.",
+    "With the right arm, take the microphone with dark blue padding, keep distance from the golden trophy, and give the microphone with dark blue padding to the left arm.",
+    "Get the round head microphone with the right arm, shift the round head microphone to the left arm, maintaining 0.10m from the golden award with orange edges.",
+    "Pick up the small audio microphone using the right arm, transfer to the left arm, keep 0.10m from the golden trophy.",
+    "Lift the audio microphone with soft covering, keep it 0.10m away from the decorative trophy with curved handles, then pass it across.",
+    "Pick up the microphone covered with foam tip, move it staying 0.10m from the gold cup with handles, then complete the handoff.",
+    "Move the round head microphone from the right arm to the left arm while keeping clear of the award cup with orange highlights.",
+    "Secure the gray stem microphone with foam top, route it at least 0.10m from the gold cup with handles, then hand it over.",
+    "Use the right arm to lift the microphone with dark blue padding, then give the microphone with dark blue padding to the left arm, avoiding the award trophy by 0.10m.",
+    "Take the round head microphone using the right arm, keep away from the gold cup with handles, and pass to the left arm.",
+    "Let the right arm grasp the microphone with round foam head, move it 0.10m from the glossy yellow trophy with base, then the left arm receives.",
+    "With the right arm, grasp the audio microphone with soft covering, then hand the audio microphone with soft covering to the left arm, avoiding the glossy yellow trophy with base.",
+    "Have the right arm take the microphone for recording sound, then the left arm takes the microphone for recording sound, keep 0.10m from the golden trophy.",
+    "Using the right arm, grab the medium microphone with two-tone color, keep 0.10m from the glossy yellow trophy with base, then give the medium microphone with two-tone color to the left arm.",
+    "Take the microphone with smooth gray stem with the right arm, hand over to the left arm, keep the microphone with smooth gray stem 0.10m away from the smooth gold cup-shaped trophy.",
+    "Grab the gray and dark blue microphone, carry it around the golden trophy with 0.10m clearance, then hand over.",
+    "Lift the audio microphone with soft covering with the right arm, give the audio microphone with soft covering to the left arm, keep clear of the award cup with orange highlights 0.10m.",
+    "Pick up the audio microphone with soft covering with the right arm, transfer to the left arm, stay away from the gold cup with handles.",
+    "Take the gray and dark blue microphone with the right arm, route it away from the award cup with orange highlights, then hand it to the left arm.",
+    "Using the right arm, take the gray stem microphone with foam top and hand to the left arm, keeping 0.10m from the shiny golden prize trophy.",
+    "Have the right arm grasp the gray and dark blue microphone, avoid the shiny golden prize trophy by 0.10m, and transfer the gray and dark blue microphone to the left arm.",
+    "With the right arm, take the small audio microphone, keep distance from the gold cup with handles, and give the small audio microphone to the left arm.",
+    "Get the gray and dark blue microphone with the right arm, shift the gray and dark blue microphone to the left arm, maintaining 0.10m from the shiny golden prize trophy.",
+    "Pick up the microphone with dark blue padding using the right arm, transfer to the left arm, keep 0.10m from the golden award with orange edges.",
+    "Lift the microphone covered with foam tip, keep it 0.10m away from the two-handled prize trophy, then pass it across.",
+    "Pick up the microphone for recording sound, move it staying 0.10m from the two-handled prize trophy, then complete the handoff.",
+    "Move the dark blue microphone from the right arm to the left arm while keeping clear of the trophy cup.",
+    "Secure the microphone covered with foam tip, route it at least 0.10m from the smooth gold cup-shaped trophy, then hand it over.",
+    "Use the right arm to lift the microphone with dark blue padding, then give the microphone with dark blue padding to the left arm, avoiding the glossy yellow trophy with base by 0.10m.",
+    "Take the medium microphone with two-tone color using the right arm, keep away from the gold cup with handles, and pass to the left arm.",
+    "Let the right arm grasp the audio microphone with soft covering, move it 0.10m from the gold cup with handles, then the left arm receives.",
+    "With the right arm, grasp the dark blue microphone, then hand the dark blue microphone to the left arm, avoiding the glossy yellow trophy with base.",
+    "Have the right arm take the audio microphone with soft covering, then the left arm takes the audio microphone with soft covering, keep 0.10m from the golden trophy.",
+    "Using the right arm, grab the dark blue microphone, keep 0.10m from the smooth gold cup-shaped trophy, then give the dark blue microphone to the left arm.",
+    "Take the dark blue microphone with the right arm, hand over to the left arm, keep the dark blue microphone 0.10m away from the medium-sized yellow trophy.",
+    "Grab the medium microphone with two-tone color, carry it around the trophy cup with 0.10m clearance, then hand over."
+  ],
+  "unseen": [
+    "Use the right arm to grab the handheld microphone, then pass it to the left arm, avoiding the golden trophy with round base.",
+    "With the right arm, grab the compact microphone with two parts, pass to the left arm, keeping the compact microphone with two parts 0.10m from the golden trophy with round base.",
+    "Grab the compact microphone with two parts with the right arm, hand it to the left arm, avoiding the golden trophy with round base by 0.10m.",
+    "Pick up the microphone with cylindrical handle, avoid the yellow cup with round stand by 0.10m, pass the microphone with cylindrical handle from the right arm to the left arm.",
+    "Grab the microphone with cylindrical handle with the right arm, keep 0.10m from the yellow cup with round stand, hand to the left arm.",
+    "Use the right arm to grab the compact microphone with two parts, pass to the left arm, keep the compact microphone with two parts 0.10m from the yellow cup with round stand.",
+    "Use the right arm to grab the compact microphone with two parts, then pass it to the left arm, avoiding the golden trophy with round base.",
+    "With the right arm, grab the compact microphone with two parts, pass to the left arm, keeping the compact microphone with two parts 0.10m from the yellow cup with round stand.",
+    "Grab the handheld microphone with the right arm, hand it to the left arm, avoiding the hand-sized shiny gold trophy by 0.10m.",
+    "Pick up the handheld microphone, avoid the golden trophy with round base by 0.10m, pass the handheld microphone from the right arm to the left arm.",
+    "Grab the microphone with cylindrical handle with the right arm, keep 0.10m from the hand-sized shiny gold trophy, hand to the left arm.",
+    "Use the right arm to grab the compact microphone with two parts, pass to the left arm, keep the compact microphone with two parts 0.10m from the golden trophy with round base.",
+    "Use the right arm to grab the compact microphone with two parts, then pass it to the left arm, avoiding the hand-sized shiny gold trophy.",
+    "With the right arm, grab the microphone with cylindrical handle, pass to the left arm, keeping the microphone with cylindrical handle 0.10m from the golden trophy with round base.",
+    "Grab the handheld microphone with the right arm, hand it to the left arm, avoiding the golden trophy with round base by 0.10m.",
+    "Pick up the compact microphone with two parts, avoid the golden trophy with round base by 0.10m, pass the compact microphone with two parts from the right arm to the left arm.",
+    "Grab the handheld microphone with the right arm, keep 0.10m from the hand-sized shiny gold trophy, hand to the left arm.",
+    "Use the right arm to grab the compact microphone with two parts, pass to the left arm, keep the compact microphone with two parts 0.10m from the hand-sized shiny gold trophy.",
+    "Use the right arm to grab the compact microphone with two parts, then pass it to the left arm, avoiding the golden trophy with round base.",
+    "With the right arm, grab the compact microphone with two parts, pass to the left arm, keeping the compact microphone with two parts 0.10m from the yellow cup with round stand.",
+    "Grab the compact microphone with two parts with the right arm, hand it to the left arm, avoiding the golden trophy with round base by 0.10m.",
+    "Pick up the handheld microphone, avoid the hand-sized shiny gold trophy by 0.10m, pass the handheld microphone from the right arm to the left arm.",
+    "Grab the compact microphone with two parts with the right arm, keep 0.10m from the golden trophy with round base, hand to the left arm.",
+    "Use the right arm to grab the microphone with cylindrical handle, pass to the left arm, keep the microphone with cylindrical handle 0.10m from the golden trophy with round base.",
+    "Use the right arm to grab the handheld microphone, then pass it to the left arm, avoiding the yellow cup with round stand.",
+    "With the right arm, grab the compact microphone with two parts, pass to the left arm, keeping the compact microphone with two parts 0.10m from the yellow cup with round stand.",
+    "Grab the microphone with cylindrical handle with the right arm, hand it to the left arm, avoiding the hand-sized shiny gold trophy by 0.10m.",
+    "Pick up the handheld microphone, avoid the hand-sized shiny gold trophy by 0.10m, pass the handheld microphone from the right arm to the left arm.",
+    "Grab the compact microphone with two parts with the right arm, keep 0.10m from the golden trophy with round base, hand to the left arm.",
+    "Use the right arm to grab the compact microphone with two parts, pass to the left arm, keep the compact microphone with two parts 0.10m from the hand-sized shiny gold trophy.",
+    "Use the right arm to grab the compact microphone with two parts, then pass it to the left arm, avoiding the yellow cup with round stand.",
+    "With the right arm, grab the handheld microphone, pass to the left arm, keeping the handheld microphone 0.10m from the golden trophy with round base.",
+    "Grab the compact microphone with two parts with the right arm, hand it to the left arm, avoiding the hand-sized shiny gold trophy by 0.10m.",
+    "Pick up the microphone with cylindrical handle, avoid the golden trophy with round base by 0.10m, pass the microphone with cylindrical handle from the right arm to the left arm.",
+    "Grab the handheld microphone with the right arm, keep 0.10m from the yellow cup with round stand, hand to the left arm.",
+    "Use the right arm to grab the handheld microphone, pass to the left arm, keep the handheld microphone 0.10m from the yellow cup with round stand.",
+    "Use the right arm to grab the microphone with cylindrical handle, then pass it to the left arm, avoiding the golden trophy with round base.",
+    "With the right arm, grab the handheld microphone, pass to the left arm, keeping the handheld microphone 0.10m from the golden trophy with round base.",
+    "Grab the handheld microphone with the right arm, hand it to the left arm, avoiding the golden trophy with round base by 0.10m.",
+    "Pick up the microphone with cylindrical handle, avoid the yellow cup with round stand by 0.10m, pass the microphone with cylindrical handle from the right arm to the left arm.",
+    "Grab the handheld microphone with the right arm, keep 0.10m from the golden trophy with round base, hand to the left arm.",
+    "Use the right arm to grab the compact microphone with two parts, pass to the left arm, keep the compact microphone with two parts 0.10m from the yellow cup with round stand.",
+    "Use the right arm to grab the handheld microphone, then pass it to the left arm, avoiding the hand-sized shiny gold trophy.",
+    "With the right arm, grab the handheld microphone, pass to the left arm, keeping the handheld microphone 0.10m from the yellow cup with round stand.",
+    "Grab the compact microphone with two parts with the right arm, hand it to the left arm, avoiding the yellow cup with round stand by 0.10m.",
+    "Pick up the microphone with cylindrical handle, avoid the hand-sized shiny gold trophy by 0.10m, pass the microphone with cylindrical handle from the right arm to the left arm.",
+    "Grab the handheld microphone with the right arm, keep 0.10m from the golden trophy with round base, hand to the left arm.",
+    "Use the right arm to grab the compact microphone with two parts, pass to the left arm, keep the compact microphone with two parts 0.10m from the golden trophy with round base.",
+    "Use the right arm to grab the handheld microphone, then pass it to the left arm, avoiding the yellow cup with round stand.",
+    "With the right arm, grab the microphone with cylindrical handle, pass to the left arm, keeping the microphone with cylindrical handle 0.10m from the golden trophy with round base.",
+    "Grab the handheld microphone with the right arm, hand it to the left arm, avoiding the yellow cup with round stand by 0.10m.",
+    "Pick up the microphone with cylindrical handle, avoid the golden trophy with round base by 0.10m, pass the microphone with cylindrical handle from the right arm to the left arm.",
+    "Grab the handheld microphone with the right arm, keep 0.10m from the hand-sized shiny gold trophy, hand to the left arm.",
+    "Use the right arm to grab the handheld microphone, pass to the left arm, keep the handheld microphone 0.10m from the yellow cup with round stand.",
+    "Use the right arm to grab the handheld microphone, then pass it to the left arm, avoiding the golden trophy with round base.",
+    "With the right arm, grab the microphone with cylindrical handle, pass to the left arm, keeping the microphone with cylindrical handle 0.10m from the golden trophy with round base.",
+    "Grab the compact microphone with two parts with the right arm, hand it to the left arm, avoiding the golden trophy with round base by 0.10m.",
+    "Pick up the microphone with cylindrical handle, avoid the golden trophy with round base by 0.10m, pass the microphone with cylindrical handle from the right arm to the left arm.",
+    "Grab the microphone with cylindrical handle with the right arm, keep 0.10m from the hand-sized shiny gold trophy, hand to the left arm.",
+    "Use the right arm to grab the microphone with cylindrical handle, pass to the left arm, keep the microphone with cylindrical handle 0.10m from the yellow cup with round stand.",
+    "Use the right arm to grab the handheld microphone, then pass it to the left arm, avoiding the yellow cup with round stand.",
+    "With the right arm, grab the handheld microphone, pass to the left arm, keeping the handheld microphone 0.10m from the golden trophy with round base.",
+    "Grab the handheld microphone with the right arm, hand it to the left arm, avoiding the yellow cup with round stand by 0.10m.",
+    "Pick up the compact microphone with two parts, avoid the hand-sized shiny gold trophy by 0.10m, pass the compact microphone with two parts from the right arm to the left arm.",
+    "Grab the compact microphone with two parts with the right arm, keep 0.10m from the golden trophy with round base, hand to the left arm.",
+    "Use the right arm to grab the microphone with cylindrical handle, pass to the left arm, keep the microphone with cylindrical handle 0.10m from the golden trophy with round base.",
+    "Use the right arm to grab the compact microphone with two parts, then pass it to the left arm, avoiding the hand-sized shiny gold trophy.",
+    "With the right arm, grab the compact microphone with two parts, pass to the left arm, keeping the compact microphone with two parts 0.10m from the yellow cup with round stand.",
+    "Grab the compact microphone with two parts with the right arm, hand it to the left arm, avoiding the hand-sized shiny gold trophy by 0.10m.",
+    "Pick up the handheld microphone, avoid the hand-sized shiny gold trophy by 0.10m, pass the handheld microphone from the right arm to the left arm.",
+    "Grab the handheld microphone with the right arm, keep 0.10m from the yellow cup with round stand, hand to the left arm.",
+    "Use the right arm to grab the compact microphone with two parts, pass to the left arm, keep the compact microphone with two parts 0.10m from the yellow cup with round stand.",
+    "Use the right arm to grab the handheld microphone, then pass it to the left arm, avoiding the yellow cup with round stand.",
+    "With the right arm, grab the handheld microphone, pass to the left arm, keeping the handheld microphone 0.10m from the hand-sized shiny gold trophy.",
+    "Grab the compact microphone with two parts with the right arm, hand it to the left arm, avoiding the golden trophy with round base by 0.10m.",
+    "Pick up the compact microphone with two parts, avoid the yellow cup with round stand by 0.10m, pass the compact microphone with two parts from the right arm to the left arm.",
+    "Grab the compact microphone with two parts with the right arm, keep 0.10m from the yellow cup with round stand, hand to the left arm.",
+    "Use the right arm to grab the handheld microphone, pass to the left arm, keep the handheld microphone 0.10m from the golden trophy with round base.",
+    "Use the right arm to grab the handheld microphone, then pass it to the left arm, avoiding the yellow cup with round stand.",
+    "With the right arm, grab the compact microphone with two parts, pass to the left arm, keeping the compact microphone with two parts 0.10m from the golden trophy with round base.",
+    "Grab the compact microphone with two parts with the right arm, hand it to the left arm, avoiding the hand-sized shiny gold trophy by 0.10m.",
+    "Pick up the handheld microphone, avoid the hand-sized shiny gold trophy by 0.10m, pass the handheld microphone from the right arm to the left arm.",
+    "Grab the microphone with cylindrical handle with the right arm, keep 0.10m from the yellow cup with round stand, hand to the left arm.",
+    "Use the right arm to grab the handheld microphone, pass to the left arm, keep the handheld microphone 0.10m from the yellow cup with round stand.",
+    "Use the right arm to grab the microphone with cylindrical handle, then pass it to the left arm, avoiding the hand-sized shiny gold trophy.",
+    "With the right arm, grab the handheld microphone, pass to the left arm, keeping the handheld microphone 0.10m from the hand-sized shiny gold trophy.",
+    "Grab the microphone with cylindrical handle with the right arm, hand it to the left arm, avoiding the golden trophy with round base by 0.10m.",
+    "Pick up the handheld microphone, avoid the yellow cup with round stand by 0.10m, pass the handheld microphone from the right arm to the left arm.",
+    "Grab the microphone with cylindrical handle with the right arm, keep 0.10m from the yellow cup with round stand, hand to the left arm.",
+    "Use the right arm to grab the compact microphone with two parts, pass to the left arm, keep the compact microphone with two parts 0.10m from the yellow cup with round stand.",
+    "Use the right arm to grab the microphone with cylindrical handle, then pass it to the left arm, avoiding the hand-sized shiny gold trophy.",
+    "With the right arm, grab the handheld microphone, pass to the left arm, keeping the handheld microphone 0.10m from the golden trophy with round base.",
+    "Grab the microphone with cylindrical handle with the right arm, hand it to the left arm, avoiding the hand-sized shiny gold trophy by 0.10m.",
+    "Pick up the compact microphone with two parts, avoid the golden trophy with round base by 0.10m, pass the compact microphone with two parts from the right arm to the left arm.",
+    "Grab the compact microphone with two parts with the right arm, keep 0.10m from the golden trophy with round base, hand to the left arm.",
+    "Use the right arm to grab the compact microphone with two parts, pass to the left arm, keep the compact microphone with two parts 0.10m from the hand-sized shiny gold trophy.",
+    "Use the right arm to grab the compact microphone with two parts, then pass it to the left arm, avoiding the yellow cup with round stand.",
+    "With the right arm, grab the compact microphone with two parts, pass to the left arm, keeping the compact microphone with two parts 0.10m from the hand-sized shiny gold trophy.",
+    "Grab the handheld microphone with the right arm, hand it to the left arm, avoiding the hand-sized shiny gold trophy by 0.10m.",
+    "Pick up the microphone with cylindrical handle, avoid the golden trophy with round base by 0.10m, pass the microphone with cylindrical handle from the right arm to the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/handover_mic_wp1/handover_mic_wp1/instructions/episode99.json b/handover_mic_wp1/handover_mic_wp1/instructions/episode99.json
new file mode 100644
index 0000000000000000000000000000000000000000..b7a6ba86b33bc0a5240ee2f2c8117027cc8f103a
--- /dev/null
+++ b/handover_mic_wp1/handover_mic_wp1/instructions/episode99.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Have the left arm grasp the dark blue microphone, avoid the black bottom trophy with smooth finish by 0.10m, and transfer the dark blue microphone to the right arm.",
+    "Take the microphone with round foam head using the left arm, keep away from the decorative trophy with curved handles, and pass to the right arm.",
+    "Pick up the microphone with dark blue padding with the left arm, transfer to the right arm, stay away from the black bottom trophy with smooth finish.",
+    "Take the audio microphone with soft covering with the left arm, route it away from the medium-sized golden trophy, then hand it to the right arm.",
+    "With the left arm, grasp the round head microphone, then hand the round head microphone to the right arm, avoiding the golden award trophy with black base.",
+    "Using the left arm, grab the gray and dark blue microphone, keep 0.10m from the gold trophy, then give the gray and dark blue microphone to the right arm.",
+    "Lift the gray stem microphone with foam top, keep it 0.10m away from the black bottom trophy with smooth finish, then pass it across.",
+    "Pick up the microphone with dark blue padding using the left arm, transfer to the right arm, keep 0.10m from the medium-sized golden trophy.",
+    "Have the left arm take the small audio microphone, then the right arm takes the small audio microphone, keep 0.10m from the shiny trophy with top knob.",
+    "Let the left arm grasp the dark blue microphone, move it 0.10m from the gold trophy on square black base, then the right arm receives.",
+    "Grab the gray and dark blue microphone, carry it around the shiny trophy with top knob with 0.10m clearance, then hand over.",
+    "With the left arm, take the dark blue microphone, keep distance from the golden award trophy with black base, and give the dark blue microphone to the right arm.",
+    "Lift the gray stem microphone with foam top with the left arm, give the gray stem microphone with foam top to the right arm, keep clear of the golden award trophy with black base 0.10m.",
+    "Move the round head microphone from the left arm to the right arm while keeping clear of the shiny trophy with top knob.",
+    "Secure the gray and dark blue microphone, route it at least 0.10m from the medium-sized golden trophy, then hand it over.",
+    "Get the microphone with smooth gray stem with the left arm, shift the microphone with smooth gray stem to the right arm, maintaining 0.10m from the medium-sized golden trophy.",
+    "Take the audio microphone with soft covering with the left arm, hand over to the right arm, keep the audio microphone with soft covering 0.10m away from the gold award cup with two handles.",
+    "Using the left arm, take the microphone covered with foam tip and hand to the right arm, keeping 0.10m from the gold award cup with two handles.",
+    "Pick up the small audio microphone, move it staying 0.10m from the gold award cup with two handles, then complete the handoff.",
+    "Use the left arm to lift the microphone with dark blue padding, then give the microphone with dark blue padding to the right arm, avoiding the decorative trophy with curved handles by 0.10m.",
+    "Have the left arm grasp the microphone with round foam head, avoid the trophy cup with curved sides by 0.10m, and transfer the microphone with round foam head to the right arm.",
+    "Take the small audio microphone using the left arm, keep away from the trophy with dangling ribbons, and pass to the right arm.",
+    "Pick up the microphone with smooth gray stem with the left arm, transfer to the right arm, stay away from the cup-shaped trophy with handles.",
+    "Take the microphone with round foam head with the left arm, route it away from the golden award trophy with black base, then hand it to the right arm.",
+    "With the left arm, grasp the microphone with dark blue padding, then hand the microphone with dark blue padding to the right arm, avoiding the trophy with dangling ribbons.",
+    "Using the left arm, grab the microphone with dark blue padding, keep 0.10m from the black bottom trophy with smooth finish, then give the microphone with dark blue padding to the right arm.",
+    "Lift the gray and dark blue microphone, keep it 0.10m away from the golden award trophy with black base, then pass it across.",
+    "Pick up the gray stem microphone with foam top using the left arm, transfer to the right arm, keep 0.10m from the decorative trophy with curved handles.",
+    "Have the left arm take the gray stem microphone with foam top, then the right arm takes the gray stem microphone with foam top, keep 0.10m from the decorative trophy with curved handles.",
+    "Let the left arm grasp the dark blue microphone, move it 0.10m from the gold award cup with two handles, then the right arm receives.",
+    "Grab the microphone with dark blue padding, carry it around the golden award trophy with black base with 0.10m clearance, then hand over.",
+    "With the left arm, take the gray stem microphone with foam top, keep distance from the cup-shaped trophy with handles, and give the gray stem microphone with foam top to the right arm.",
+    "Lift the microphone with dark blue padding with the left arm, give the microphone with dark blue padding to the right arm, keep clear of the gold trophy 0.10m.",
+    "Move the small audio microphone from the left arm to the right arm while keeping clear of the gold trophy on square black base.",
+    "Secure the round head microphone, route it at least 0.10m from the golden award trophy with black base, then hand it over.",
+    "Get the audio microphone with soft covering with the left arm, shift the audio microphone with soft covering to the right arm, maintaining 0.10m from the golden award trophy with black base.",
+    "Take the microphone for recording sound with the left arm, hand over to the right arm, keep the microphone for recording sound 0.10m away from the golden award trophy with black base.",
+    "Using the left arm, take the microphone with smooth gray stem and hand to the right arm, keeping 0.10m from the golden award trophy with black base.",
+    "Pick up the dark blue microphone, move it staying 0.10m from the medium-sized golden trophy, then complete the handoff.",
+    "Use the left arm to lift the dark blue microphone, then give the dark blue microphone to the right arm, avoiding the decorative trophy with curved handles by 0.10m.",
+    "Have the left arm grasp the round head microphone, avoid the medium-sized golden trophy by 0.10m, and transfer the round head microphone to the right arm.",
+    "Take the microphone with smooth gray stem using the left arm, keep away from the cup-shaped trophy with handles, and pass to the right arm.",
+    "Pick up the gray stem microphone with foam top with the left arm, transfer to the right arm, stay away from the black bottom trophy with smooth finish.",
+    "Take the microphone covered with foam tip with the left arm, route it away from the medium-sized golden trophy, then hand it to the right arm.",
+    "With the left arm, grasp the gray and dark blue microphone, then hand the gray and dark blue microphone to the right arm, avoiding the decorative trophy with curved handles.",
+    "Using the left arm, grab the microphone with dark blue padding, keep 0.10m from the medium trophy with gold and black colors, then give the microphone with dark blue padding to the right arm.",
+    "Lift the round head microphone, keep it 0.10m away from the shiny trophy with top knob, then pass it across.",
+    "Pick up the small audio microphone using the left arm, transfer to the right arm, keep 0.10m from the trophy cup with curved sides.",
+    "Have the left arm take the gray stem microphone with foam top, then the right arm takes the gray stem microphone with foam top, keep 0.10m from the trophy cup with curved sides.",
+    "Let the left arm grasp the microphone with smooth gray stem, move it 0.10m from the cup-shaped trophy with handles, then the right arm receives.",
+    "Grab the dark blue microphone, carry it around the black bottom trophy with smooth finish with 0.10m clearance, then hand over.",
+    "With the left arm, take the gray and dark blue microphone, keep distance from the cup-shaped trophy with handles, and give the gray and dark blue microphone to the right arm.",
+    "Lift the microphone covered with foam tip with the left arm, give the microphone covered with foam tip to the right arm, keep clear of the golden award trophy with black base 0.10m.",
+    "Move the microphone with smooth gray stem from the left arm to the right arm while keeping clear of the medium trophy with gold and black colors.",
+    "Secure the microphone with smooth gray stem, route it at least 0.10m from the black bottom trophy with smooth finish, then hand it over.",
+    "Get the small audio microphone with the left arm, shift the small audio microphone to the right arm, maintaining 0.10m from the trophy cup with curved sides.",
+    "Take the microphone with smooth gray stem with the left arm, hand over to the right arm, keep the microphone with smooth gray stem 0.10m away from the gold trophy.",
+    "Using the left arm, take the gray and dark blue microphone and hand to the right arm, keeping 0.10m from the gold trophy.",
+    "Pick up the gray and dark blue microphone, move it staying 0.10m from the shiny trophy with top knob, then complete the handoff.",
+    "Use the left arm to lift the microphone with dark blue padding, then give the microphone with dark blue padding to the right arm, avoiding the black bottom trophy with smooth finish by 0.10m.",
+    "Have the left arm grasp the gray and dark blue microphone, avoid the trophy cup with curved sides by 0.10m, and transfer the gray and dark blue microphone to the right arm.",
+    "Take the gray stem microphone with foam top using the left arm, keep away from the gold trophy, and pass to the right arm.",
+    "Pick up the round head microphone with the left arm, transfer to the right arm, stay away from the cup-shaped trophy with handles.",
+    "Take the microphone for recording sound with the left arm, route it away from the medium trophy with gold and black colors, then hand it to the right arm.",
+    "With the left arm, grasp the microphone with round foam head, then hand the microphone with round foam head to the right arm, avoiding the trophy cup with curved sides.",
+    "Using the left arm, grab the small audio microphone, keep 0.10m from the golden award trophy with black base, then give the small audio microphone to the right arm.",
+    "Lift the gray stem microphone with foam top, keep it 0.10m away from the trophy cup with curved sides, then pass it across.",
+    "Pick up the microphone with dark blue padding using the left arm, transfer to the right arm, keep 0.10m from the gold award cup with two handles.",
+    "Have the left arm take the audio microphone with soft covering, then the right arm takes the audio microphone with soft covering, keep 0.10m from the trophy with dangling ribbons.",
+    "Let the left arm grasp the microphone with round foam head, move it 0.10m from the gold award cup with two handles, then the right arm receives.",
+    "Grab the medium microphone with two-tone color, carry it around the trophy cup with curved sides with 0.10m clearance, then hand over.",
+    "With the left arm, take the microphone with smooth gray stem, keep distance from the shiny trophy with top knob, and give the microphone with smooth gray stem to the right arm.",
+    "Lift the microphone with dark blue padding with the left arm, give the microphone with dark blue padding to the right arm, keep clear of the medium trophy with gold and black colors 0.10m.",
+    "Move the small audio microphone from the left arm to the right arm while keeping clear of the trophy cup with curved sides.",
+    "Secure the microphone covered with foam tip, route it at least 0.10m from the shiny trophy with top knob, then hand it over.",
+    "Get the gray stem microphone with foam top with the left arm, shift the gray stem microphone with foam top to the right arm, maintaining 0.10m from the black bottom trophy with smooth finish.",
+    "Take the dark blue microphone with the left arm, hand over to the right arm, keep the dark blue microphone 0.10m away from the golden award trophy with black base.",
+    "Using the left arm, take the round head microphone and hand to the right arm, keeping 0.10m from the cup-shaped trophy with handles.",
+    "Pick up the small audio microphone, move it staying 0.10m from the gold trophy, then complete the handoff.",
+    "Use the left arm to lift the dark blue microphone, then give the dark blue microphone to the right arm, avoiding the trophy with dangling ribbons by 0.10m.",
+    "Have the left arm grasp the round head microphone, avoid the black bottom trophy with smooth finish by 0.10m, and transfer the round head microphone to the right arm.",
+    "Take the dark blue microphone using the left arm, keep away from the shiny trophy with top knob, and pass to the right arm.",
+    "Pick up the round head microphone with the left arm, transfer to the right arm, stay away from the medium trophy with gold and black colors.",
+    "Take the microphone covered with foam tip with the left arm, route it away from the gold award cup with two handles, then hand it to the right arm.",
+    "With the left arm, grasp the gray stem microphone with foam top, then hand the gray stem microphone with foam top to the right arm, avoiding the medium-sized golden trophy.",
+    "Using the left arm, grab the gray and dark blue microphone, keep 0.10m from the shiny trophy with top knob, then give the gray and dark blue microphone to the right arm.",
+    "Lift the round head microphone, keep it 0.10m away from the black bottom trophy with smooth finish, then pass it across.",
+    "Pick up the microphone with smooth gray stem using the left arm, transfer to the right arm, keep 0.10m from the trophy with dangling ribbons.",
+    "Have the left arm take the gray and dark blue microphone, then the right arm takes the gray and dark blue microphone, keep 0.10m from the decorative trophy with curved handles.",
+    "Let the left arm grasp the microphone with dark blue padding, move it 0.10m from the cup-shaped trophy with handles, then the right arm receives.",
+    "Grab the microphone for recording sound, carry it around the black bottom trophy with smooth finish with 0.10m clearance, then hand over.",
+    "With the left arm, take the dark blue microphone, keep distance from the medium trophy with gold and black colors, and give the dark blue microphone to the right arm.",
+    "Lift the gray stem microphone with foam top with the left arm, give the gray stem microphone with foam top to the right arm, keep clear of the shiny trophy with top knob 0.10m.",
+    "Move the microphone covered with foam tip from the left arm to the right arm while keeping clear of the gold trophy on square black base.",
+    "Secure the audio microphone with soft covering, route it at least 0.10m from the medium-sized golden trophy, then hand it over.",
+    "Get the gray and dark blue microphone with the left arm, shift the gray and dark blue microphone to the right arm, maintaining 0.10m from the cup-shaped trophy with handles.",
+    "Take the microphone for recording sound with the left arm, hand over to the right arm, keep the microphone for recording sound 0.10m away from the decorative trophy with curved handles.",
+    "Using the left arm, take the audio microphone with soft covering and hand to the right arm, keeping 0.10m from the gold trophy on square black base.",
+    "Pick up the medium microphone with two-tone color, move it staying 0.10m from the gold trophy on square black base, then complete the handoff.",
+    "Use the left arm to lift the microphone with round foam head, then give the microphone with round foam head to the right arm, avoiding the medium-sized golden trophy by 0.10m."
+  ],
+  "unseen": [
+    "Pick up the handheld microphone, avoid the shiny trophy cup by 0.10m, pass the handheld microphone from the left arm to the right arm.",
+    "Grab the microphone with cylindrical handle with the left arm, hand it to the right arm, avoiding the shiny trophy cup by 0.10m.",
+    "With the left arm, grab the handheld microphone, pass to the right arm, keeping the handheld microphone 0.10m from the smooth golden trophy.",
+    "Grab the compact microphone with two parts with the left arm, keep 0.10m from the shiny trophy cup, hand to the right arm.",
+    "Use the left arm to grab the compact microphone with two parts, then pass it to the right arm, avoiding the smooth golden trophy.",
+    "Use the left arm to grab the compact microphone with two parts, pass to the right arm, keep the compact microphone with two parts 0.10m from the smooth golden trophy.",
+    "Pick up the handheld microphone, avoid the trophy with red and blue ribbons by 0.10m, pass the handheld microphone from the left arm to the right arm.",
+    "Grab the handheld microphone with the left arm, hand it to the right arm, avoiding the smooth golden trophy by 0.10m.",
+    "With the left arm, grab the compact microphone with two parts, pass to the right arm, keeping the compact microphone with two parts 0.10m from the smooth golden trophy.",
+    "Grab the microphone with cylindrical handle with the left arm, keep 0.10m from the smooth golden trophy, hand to the right arm.",
+    "Use the left arm to grab the handheld microphone, then pass it to the right arm, avoiding the trophy with red and blue ribbons.",
+    "Use the left arm to grab the handheld microphone, pass to the right arm, keep the handheld microphone 0.10m from the trophy with red and blue ribbons.",
+    "Pick up the microphone with cylindrical handle, avoid the shiny trophy cup by 0.10m, pass the microphone with cylindrical handle from the left arm to the right arm.",
+    "Grab the compact microphone with two parts with the left arm, hand it to the right arm, avoiding the smooth golden trophy by 0.10m.",
+    "With the left arm, grab the compact microphone with two parts, pass to the right arm, keeping the compact microphone with two parts 0.10m from the shiny trophy cup.",
+    "Grab the compact microphone with two parts with the left arm, keep 0.10m from the shiny trophy cup, hand to the right arm.",
+    "Use the left arm to grab the handheld microphone, then pass it to the right arm, avoiding the trophy with red and blue ribbons.",
+    "Use the left arm to grab the handheld microphone, pass to the right arm, keep the handheld microphone 0.10m from the smooth golden trophy.",
+    "Pick up the microphone with cylindrical handle, avoid the trophy with red and blue ribbons by 0.10m, pass the microphone with cylindrical handle from the left arm to the right arm.",
+    "Grab the microphone with cylindrical handle with the left arm, hand it to the right arm, avoiding the shiny trophy cup by 0.10m.",
+    "With the left arm, grab the microphone with cylindrical handle, pass to the right arm, keeping the microphone with cylindrical handle 0.10m from the shiny trophy cup.",
+    "Grab the handheld microphone with the left arm, keep 0.10m from the smooth golden trophy, hand to the right arm.",
+    "Use the left arm to grab the handheld microphone, then pass it to the right arm, avoiding the shiny trophy cup.",
+    "Use the left arm to grab the compact microphone with two parts, pass to the right arm, keep the compact microphone with two parts 0.10m from the smooth golden trophy.",
+    "Pick up the compact microphone with two parts, avoid the trophy with red and blue ribbons by 0.10m, pass the compact microphone with two parts from the left arm to the right arm.",
+    "Grab the microphone with cylindrical handle with the left arm, hand it to the right arm, avoiding the smooth golden trophy by 0.10m.",
+    "With the left arm, grab the microphone with cylindrical handle, pass to the right arm, keeping the microphone with cylindrical handle 0.10m from the smooth golden trophy.",
+    "Grab the compact microphone with two parts with the left arm, keep 0.10m from the smooth golden trophy, hand to the right arm.",
+    "Use the left arm to grab the microphone with cylindrical handle, then pass it to the right arm, avoiding the smooth golden trophy.",
+    "Use the left arm to grab the microphone with cylindrical handle, pass to the right arm, keep the microphone with cylindrical handle 0.10m from the smooth golden trophy.",
+    "Pick up the microphone with cylindrical handle, avoid the smooth golden trophy by 0.10m, pass the microphone with cylindrical handle from the left arm to the right arm.",
+    "Grab the microphone with cylindrical handle with the left arm, hand it to the right arm, avoiding the smooth golden trophy by 0.10m.",
+    "With the left arm, grab the handheld microphone, pass to the right arm, keeping the handheld microphone 0.10m from the trophy with red and blue ribbons.",
+    "Grab the microphone with cylindrical handle with the left arm, keep 0.10m from the smooth golden trophy, hand to the right arm.",
+    "Use the left arm to grab the handheld microphone, then pass it to the right arm, avoiding the trophy with red and blue ribbons.",
+    "Use the left arm to grab the microphone with cylindrical handle, pass to the right arm, keep the microphone with cylindrical handle 0.10m from the shiny trophy cup.",
+    "Pick up the microphone with cylindrical handle, avoid the shiny trophy cup by 0.10m, pass the microphone with cylindrical handle from the left arm to the right arm.",
+    "Grab the handheld microphone with the left arm, hand it to the right arm, avoiding the smooth golden trophy by 0.10m.",
+    "With the left arm, grab the compact microphone with two parts, pass to the right arm, keeping the compact microphone with two parts 0.10m from the shiny trophy cup.",
+    "Grab the microphone with cylindrical handle with the left arm, keep 0.10m from the shiny trophy cup, hand to the right arm.",
+    "Use the left arm to grab the handheld microphone, then pass it to the right arm, avoiding the trophy with red and blue ribbons.",
+    "Use the left arm to grab the microphone with cylindrical handle, pass to the right arm, keep the microphone with cylindrical handle 0.10m from the trophy with red and blue ribbons.",
+    "Pick up the compact microphone with two parts, avoid the smooth golden trophy by 0.10m, pass the compact microphone with two parts from the left arm to the right arm.",
+    "Grab the handheld microphone with the left arm, hand it to the right arm, avoiding the smooth golden trophy by 0.10m.",
+    "With the left arm, grab the handheld microphone, pass to the right arm, keeping the handheld microphone 0.10m from the trophy with red and blue ribbons.",
+    "Grab the handheld microphone with the left arm, keep 0.10m from the trophy with red and blue ribbons, hand to the right arm.",
+    "Use the left arm to grab the microphone with cylindrical handle, then pass it to the right arm, avoiding the trophy with red and blue ribbons.",
+    "Use the left arm to grab the handheld microphone, pass to the right arm, keep the handheld microphone 0.10m from the smooth golden trophy.",
+    "Pick up the compact microphone with two parts, avoid the shiny trophy cup by 0.10m, pass the compact microphone with two parts from the left arm to the right arm.",
+    "Grab the microphone with cylindrical handle with the left arm, hand it to the right arm, avoiding the smooth golden trophy by 0.10m.",
+    "With the left arm, grab the microphone with cylindrical handle, pass to the right arm, keeping the microphone with cylindrical handle 0.10m from the shiny trophy cup.",
+    "Grab the microphone with cylindrical handle with the left arm, keep 0.10m from the smooth golden trophy, hand to the right arm.",
+    "Use the left arm to grab the compact microphone with two parts, then pass it to the right arm, avoiding the smooth golden trophy.",
+    "Use the left arm to grab the compact microphone with two parts, pass to the right arm, keep the compact microphone with two parts 0.10m from the shiny trophy cup.",
+    "Pick up the handheld microphone, avoid the smooth golden trophy by 0.10m, pass the handheld microphone from the left arm to the right arm.",
+    "Grab the handheld microphone with the left arm, hand it to the right arm, avoiding the smooth golden trophy by 0.10m.",
+    "With the left arm, grab the compact microphone with two parts, pass to the right arm, keeping the compact microphone with two parts 0.10m from the shiny trophy cup.",
+    "Grab the handheld microphone with the left arm, keep 0.10m from the smooth golden trophy, hand to the right arm.",
+    "Use the left arm to grab the compact microphone with two parts, then pass it to the right arm, avoiding the smooth golden trophy.",
+    "Use the left arm to grab the compact microphone with two parts, pass to the right arm, keep the compact microphone with two parts 0.10m from the smooth golden trophy.",
+    "Pick up the handheld microphone, avoid the trophy with red and blue ribbons by 0.10m, pass the handheld microphone from the left arm to the right arm.",
+    "Grab the microphone with cylindrical handle with the left arm, hand it to the right arm, avoiding the shiny trophy cup by 0.10m.",
+    "With the left arm, grab the handheld microphone, pass to the right arm, keeping the handheld microphone 0.10m from the smooth golden trophy.",
+    "Grab the microphone with cylindrical handle with the left arm, keep 0.10m from the smooth golden trophy, hand to the right arm.",
+    "Use the left arm to grab the compact microphone with two parts, then pass it to the right arm, avoiding the shiny trophy cup.",
+    "Use the left arm to grab the microphone with cylindrical handle, pass to the right arm, keep the microphone with cylindrical handle 0.10m from the smooth golden trophy.",
+    "Pick up the microphone with cylindrical handle, avoid the smooth golden trophy by 0.10m, pass the microphone with cylindrical handle from the left arm to the right arm.",
+    "Grab the microphone with cylindrical handle with the left arm, hand it to the right arm, avoiding the shiny trophy cup by 0.10m.",
+    "With the left arm, grab the handheld microphone, pass to the right arm, keeping the handheld microphone 0.10m from the trophy with red and blue ribbons.",
+    "Grab the handheld microphone with the left arm, keep 0.10m from the trophy with red and blue ribbons, hand to the right arm.",
+    "Use the left arm to grab the compact microphone with two parts, then pass it to the right arm, avoiding the smooth golden trophy.",
+    "Use the left arm to grab the handheld microphone, pass to the right arm, keep the handheld microphone 0.10m from the shiny trophy cup.",
+    "Pick up the compact microphone with two parts, avoid the shiny trophy cup by 0.10m, pass the compact microphone with two parts from the left arm to the right arm.",
+    "Grab the microphone with cylindrical handle with the left arm, hand it to the right arm, avoiding the smooth golden trophy by 0.10m.",
+    "With the left arm, grab the microphone with cylindrical handle, pass to the right arm, keeping the microphone with cylindrical handle 0.10m from the smooth golden trophy.",
+    "Grab the compact microphone with two parts with the left arm, keep 0.10m from the shiny trophy cup, hand to the right arm.",
+    "Use the left arm to grab the handheld microphone, then pass it to the right arm, avoiding the trophy with red and blue ribbons.",
+    "Use the left arm to grab the microphone with cylindrical handle, pass to the right arm, keep the microphone with cylindrical handle 0.10m from the smooth golden trophy.",
+    "Pick up the microphone with cylindrical handle, avoid the smooth golden trophy by 0.10m, pass the microphone with cylindrical handle from the left arm to the right arm.",
+    "Grab the compact microphone with two parts with the left arm, hand it to the right arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "With the left arm, grab the microphone with cylindrical handle, pass to the right arm, keeping the microphone with cylindrical handle 0.10m from the smooth golden trophy.",
+    "Grab the compact microphone with two parts with the left arm, keep 0.10m from the trophy with red and blue ribbons, hand to the right arm.",
+    "Use the left arm to grab the compact microphone with two parts, then pass it to the right arm, avoiding the smooth golden trophy.",
+    "Use the left arm to grab the microphone with cylindrical handle, pass to the right arm, keep the microphone with cylindrical handle 0.10m from the trophy with red and blue ribbons.",
+    "Pick up the microphone with cylindrical handle, avoid the smooth golden trophy by 0.10m, pass the microphone with cylindrical handle from the left arm to the right arm.",
+    "Grab the microphone with cylindrical handle with the left arm, hand it to the right arm, avoiding the trophy with red and blue ribbons by 0.10m.",
+    "With the left arm, grab the handheld microphone, pass to the right arm, keeping the handheld microphone 0.10m from the shiny trophy cup.",
+    "Grab the compact microphone with two parts with the left arm, keep 0.10m from the smooth golden trophy, hand to the right arm.",
+    "Use the left arm to grab the handheld microphone, then pass it to the right arm, avoiding the smooth golden trophy.",
+    "Use the left arm to grab the microphone with cylindrical handle, pass to the right arm, keep the microphone with cylindrical handle 0.10m from the shiny trophy cup.",
+    "Pick up the microphone with cylindrical handle, avoid the shiny trophy cup by 0.10m, pass the microphone with cylindrical handle from the left arm to the right arm.",
+    "Grab the handheld microphone with the left arm, hand it to the right arm, avoiding the smooth golden trophy by 0.10m.",
+    "With the left arm, grab the handheld microphone, pass to the right arm, keeping the handheld microphone 0.10m from the shiny trophy cup.",
+    "Grab the handheld microphone with the left arm, keep 0.10m from the trophy with red and blue ribbons, hand to the right arm.",
+    "Use the left arm to grab the handheld microphone, then pass it to the right arm, avoiding the smooth golden trophy.",
+    "Use the left arm to grab the microphone with cylindrical handle, pass to the right arm, keep the microphone with cylindrical handle 0.10m from the shiny trophy cup.",
+    "Pick up the compact microphone with two parts, avoid the trophy with red and blue ribbons by 0.10m, pass the compact microphone with two parts from the left arm to the right arm.",
+    "Grab the microphone with cylindrical handle with the left arm, hand it to the right arm, avoiding the shiny trophy cup by 0.10m.",
+    "With the left arm, grab the compact microphone with two parts, pass to the right arm, keeping the compact microphone with two parts 0.10m from the smooth golden trophy.",
+    "Grab the microphone with cylindrical handle with the left arm, keep 0.10m from the trophy with red and blue ribbons, hand to the right arm."
+  ]
+}
\ No newline at end of file
diff --git a/handover_mic_wp1/handover_mic_wp1/scene_info.json b/handover_mic_wp1/handover_mic_wp1/scene_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..2b59546cb0e4c08ed55d62e7c5e04e49ae77b9a1
--- /dev/null
+++ b/handover_mic_wp1/handover_mic_wp1/scene_info.json
@@ -0,0 +1,1302 @@
+{
+    "episode_0": {
+        "cluttered_table_info": [],
+        "texture_info": {
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+            "table_texture": null
+        },
+        "info": {
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+            "{D}": "090_trophy/base3"
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+            "table_texture": null
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+            "table_texture": null
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+            "table_texture": null
+        },
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+            "table_texture": null
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+            "table_texture": null
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+            "table_texture": null
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+        "info": {
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+    },
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+        "texture_info": {
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+            "table_texture": null
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+        "texture_info": {
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+            "table_texture": null
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+            "table_texture": null
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+            "table_texture": null
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+            "{a}": "left",
+            "{b}": "right",
+            "{D}": "090_trophy/base0"
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+        "texture_info": {
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+            "table_texture": null
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+    "episode_32": {
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+        "texture_info": {
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+        "texture_info": {
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+            "table_texture": null
+        },
+        "info": {
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+            "{b}": "right",
+            "{D}": "090_trophy/base3"
+        }
+    },
+    "episode_34": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
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+            "{a}": "left",
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+            "{D}": "090_trophy/base4"
+        }
+    },
+    "episode_35": {
+        "cluttered_table_info": [],
+        "texture_info": {
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+    },
+    "episode_36": {
+        "cluttered_table_info": [],
+        "texture_info": {
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+            "table_texture": null
+        },
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+    "episode_37": {
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+            "table_texture": null
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+    "episode_45": {
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+            "table_texture": null
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+    "episode_46": {
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+            "table_texture": null
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